VDefArm Method

Description
Calculates an arm set value of a mobile camera using a feature point detectable by the vision system.
Note: Robot operates automatically based on the detection results of the target. Be careful of interference between the robot and peripherals. Also, use with avoiding singularity nearby posture that each axis extends to prevent an error during the arm set.

Syntax
Sub VDefArm (ArmNumber As Integer, ArmDefType As SpelArmDefType, ArmDefMode As SpelArmDefMode, Sequence As String, Rotation As Double, TargetTolerance As Double)
Sub VDefArm (ArmNumber As Integer, ArmDefType As SpelArmDefType, ArmDefMode As SpelArmDefMode, Sequence As String, Rotation As Double, TargetTolerance As Double, Parent As Form)
Sub VDefArm (ArmNumber As Integer, ArmDefType As SpelArmDefType, ArmDefMode As SpelArmDefMode, Sequence As String, Rotation As Double, TargetTolerance As Double, RobotSpeed As Integer, RobotAccel As Integer, ShowWarning As SpelVDefShowWarning
Sub VDefArm (ArmNumber As Integer, ArmDefType As SpelArmDefType, ArmDefMode As SpelArmDefMode, Sequence As String, Rotation As Double, TargetTolerance As Double, RobotSpeed As Integer, RobotAccel As Integer, ShowWarning As SpelVDefShowWarning,Parent As Form)

Parameters

• ArmNumber
  An integer expression (1 to 15) indicating the arm number on which to perform arm set.
• ArmDefType
  An integer expression indicating the arm type.
  J2Camera: Calculates a center of mobile J2 camera image.
• ArmDefMode
  An integer expression indicating the arm set mode.
  Rough: A mode to run a rough arm set. Robot will move with setting accuracy of 1 mm as a target. Robot motion will be small.
  Fine: A mode to run a fine arm set. Robot will move largely with arm orientation change and provide arm set with more high accuracy.
• Sequence
  A string expression indicating the vision sequence name for the current project.
• Rotation
  A real number expression that indicates the rotation angle (degrees) when using the coarse tool set.
  Value range: 0 to 45
• TargetTolerance
  A real number expression indicating the pixel distance at which the vision detection result is considered to match the target position.
  Value range: 0 to 3 pixels
• Parent
  Optional. A .NET form that is the parent of the window.
• RobotSpeed
  Optional. Integer variable indicating the robot speed (%). Value range: 0 to 100 If omitted, set to “5”.
• RobotAccel
  Optional. Integer variable indicating the robot acceleration (%). Value range: 0 to 99 If omitted, set to “5”.
• ShowWarning
  Optional. An integer variable that sets whether to display a warning when ArmSetMode is Fine. Always : Always display DependsOnSpeed : Display when either RobotSpeed or RobotAccel is larger than 5 None : Do not display If omitted, set to “DependsOnSpeed”.

See Also
VDefGetMotionRange Method, VDefLocal Method, VDefSetMotionRange Method, VDefTool Method, VGoCenter Method

VDefArm Example
VB Example:

m_spel.VDefArm(1, SpelArmDefType.J2Camera, SpelArmDefMode.Rough, "myseq", 5, 1)  

C# Example:

m_spel.VDefArm(1, SpelArmDefType.J2Camera, SpelArmDefMode.Rough, "myseq", 5, 1);