SetPoint 方法

描述
设置当前机器人点的坐标数据。

语法
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)

参数

  • PointNumber
    指定当前机器人点内存中点编号的整数表达式。
  • X
    指定点的 X 坐标。
  • Y
    指定点的 Y 坐标。
  • Z
    指定点的 Z 坐标。
  • U
    指定点的 U 坐标。
  • V
    指定点的 V 坐标。
  • W
    指定点的 W 坐标。
  • S
    指定点的 S 坐标。
  • T
    指定点的 T 坐标。
  • Local
    指定点的本地编号。没有本地时使用 0。
  • Hand
    指定点的手方向。
  • Elbow
    指定点的肘方向。
  • Wrist
    指定点的手腕方向。
  • PointExpr
    使用字符串表达式指定点
    注意
    请勿在 X、Y、Z、U、V、W、S 和 T 参数中输入整数值。使用 Single 变量或直接输入 Single 类型值。

备注
如果发生错误，并且 SpelException 的 ErrorNumber 属性为 3101，请执行以下任一操作。

  1. 将 Windows 的[控制面板] - [时钟和区域] - [区域] - [格式] - [其他设置]，的[小数点符号]设置为“.”。然后启动 .NET 应用。
  2. 在 .NET 应用中调用 SetPoint 方法之前，将 System.Globalization.CultureInfo 类的 CurrentCulture 属性设置为 CultureInfo 实例，并将小数点符号设置为“.” 。 如果有必要，在调用 SetPoint 方法后将 CurrentCulture 属性复原。

CurrentCulture 设定示例 (C#):

// 保存 CurrentCulture 属性的原始设置
var ciOrg = CultureInfo.CurrentCulture;
try
{
    // 从原始设置中复制新设置，并在 NumberFormat.NumberDecimalSeparator 中设置小数点符号
    var ciNew = (CultureInfo)ciOrg.Clone();
    ciNew.NumberFormat.NumberDecimalSeparator = ".";
    // 在 CurrentCulture 属性中设置复制的属性
    CultureInfo.CurrentCulture = ciNew;
    // 调用 SetPoint 方法
    m_spel.SetPoint(1, pt);
}
finally
{
    // 将 CurrentCulture 复原
    CultureInfo.CurrentCulture = ciOrg;
}

参阅
GetPoint 方法, LoadPoints 方法, SavePoints 方法

SetPoint 示例
要执行的RC＋ 项目的SPEL＋ 程序例：

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 例:

Dim pt As SpelPoint  
' 获取 P1 坐标  
pt = m_spel.GetPoint(1)  
'变更坐标  
pt.U = pt.U - 10.5  
' 指定Orientation flag  
pt.J1Flag = 1  
m_spel.SetPoint(1, pt)  
‘ 执行RC+项目的SPEL+函数  
m_spel.Call("SetOffset")  
‘ 设置使用字符串表达式的坐标以及姿势  
m_spel.SetPoint(2, "P(P_WorkDetect) +X(offsetX) +Y(offsetY) :Z(heightZ) +U  (offsetU) /A /J1F1")

C# 例：

SpelPoint pt;  
// 获取 P1 坐标  
pt = m_spel.GetPoint(1);  
// 变更坐标  
pt.U = pt.U - 10.5;  
// 指定 Orientation flag  
pt.J1Flag = 1;  
m_spel.SetPoint(1, pt);  
// 执行RC+项目的SPEL+函数  
m_spel.Call("SetOffset")  
// 设置使用字符串表达式的坐标以及姿势  
m_spel.SetPoint(2, "P(P_WorkDetect) +X(offsetX) +Y(offsetY) :Z(heightZ) +U  (offsetU) /A /J1F1");

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