SetPoint Method

Description
Sets the coordinate data for a point for the current robot.

Syntax
Sub SetPoint(PointNumber As Integer, Point As SpelPoint)
Sub SetPoint(PointLabel As String, Point As SpelPoint)

Sub SetPoint(PointNumber As Integer, X As Single, Y As Single, Z As Single, U As Single)
Sub SetPoint(PointLabel As String, X As Single, Y As Single, Z As Single, U As Single)

Sub SetPoint(PointNumber As Integer, X As Single, Y As Single, Z As Single, U As Single,Local As Integer, Hand As SpelHand)
Sub SetPoint(PointLabel As String, X As Single, Y As Single, Z As Single, U As Single,Local As Integer, Hand As SpelHand)

Sub SetPoint(PointNumber As Integer, X As Single, Y As Single, Z As Single, U As Single,V As Single, W As Single)
Sub SetPoint(PointLabel As String, X As Single, Y As Single, Z As Single, U As Single,V As Single, W As Single)

Sub SetPoint(PointNumber As Integer, X As Single, Y As Single, Z As Single, U As Single,V As Single, W As Single, Local As Integer, Hand As SpelHand, Elbow As SpelElbow, Wrist As SpelWrist, J4Flag As Integer, J6Flag As Integer)
Sub SetPoint(PointLabel As String, X As Single, Y As Single, Z As Single, U As Single,V As Single, W As Single, Local As Integer, Hand As SpelHand, Elbow As SpelElbow, Wrist As SpelWrist, J4Flag As Integer, J6Flag As Integer)

Sub SetPoint(PointNumber As Integer, X As Single, Y As Single, Z As Single, U As Single,V As Single, W As Single, S As Single, T As Single)
Sub SetPoint(PointLabel As String, X As Single, Y As Single, Z As Single, U As Single,V As Single, W As Single, S As Single, T As Single)

Sub SetPoint(PointNumber As Integer, PointExpr As String)
Sub SetPoint(PointLabel As String, PointExpr As String)

Parameters

PointNumber
An integer expression that specifies the point number of a point in the current robot’s point memory.
X
The X coordinate for the specified point.
Y
The Y coordinate for the specified point.
Z
The Z coordinate for the specified point.
U
The U coordinate for the specified point.
V
The V coordinate for the specified point.
W
The W coordinate for the specified point.
S
The S coordinate for the specified point.
T
The T coordinate for the specified point.
Local
The Local Number for the specified point. Use 0 when there is no local.
Hand
The hand orientation at the specified point.
Elbow
The elbow orientation at the specified point.
Wrist
The wrist orientation at the specified point.
PointExpr
Specifies a point using a string expression.
Note
Do not enter integer values to X, Y, Z, U, V, W, S, and T parameters. Use Single variables or directly enter Single type values.

Remarks
If an error occurs and the ErrorNumber property of the SpelException is 3101, do one of the following:

In Windows, go to [Control Panel] - [Clock and Region] - [Region] - [Formats] - [Additional settings] and change [Decimal symbol] to ".". Then start your .NET application.
Before calling the SetPoint method in your .NET application, set the CurrentCulture property of the System.Globalization.CultureInfo class to a CultureInfo instance with the decimal separator set to ".". If necessary, set the CurrentCulture property back to its original setting after the SetPoint method call.

CurrentCulture setting example (C#):

// CurrentCulture Save the original settings of the properties
var ciOrg = CultureInfo.CurrentCulture;
try
{
    // Duplicate a new setting from the original and set the decimal separator with NumberFormat.NumberDecimalSeparator
    var ciNew = (CultureInfo)ciOrg.Clone();
    ciNew.NumberFormat.NumberDecimalSeparator = ".";
    // CurrentCulture Set the duplicated property to the property
    CultureInfo.CurrentCulture = ciNew;
    // Call the SetPoint method
    m_spel.SetPoint(1, pt);
}
finally
{
    // Reset CurrentCulture
    CultureInfo.CurrentCulture = ciOrg;
}

SetPoint Example
Example of RC + project SPEL + program to run:

Global Integer P_WorkDetect  
Global Real offsetX, offsetY, heightZ, offsetU  
Function SetOffset  
　　　P_WorkDetect = 5  
　　　offsetX = 0.5  
　　　offsetY = 0.3  
　　　heightZ = 10.0  
　　　offsetU = 1.2  
Fend

VB Example:

Dim pt As SpelPoint  
' Get coordinates of P1  
pt = m_spel.GetPoint(1)  
' Set it with changes  
pt.U = pt.U - 10.5  
’ Specify orientation flag  
pt.J1Flag = 1  
m_spel.SetPoint(1, pt)  
’ Run RC + project SPEL + function  
m_spel.Call("SetOffset")  
’ Set coordinates and orientation using string expressions  
m_spel.SetPoint(2, "P(P_WorkDetect) +X(offsetX) +Y(offsetY) :Z(heightZ) +U  (offsetU) /A /J1F1")

C# Example:

SpelPoint pt;  
// Get coordinates of P1  
pt = m_spel.GetPoint(1);  
// Set it with changes  
pt.U = pt.U - 10.5;  
// Specify orientation flag  
pt.J1Flag = 1;  
m_spel.SetPoint(1, pt);  
// Run RC + project SPEL + function  
m_spel.Call("SetOffset")  
// Set coordinates and orientation using string expressions  
m_spel.SetPoint(2, "P(P_WorkDetect) +X(offsetX) +Y(offsetY) :Z(heightZ) +U  (offsetU) /A /J1F1");

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