SetPoint方法

描述
設定目前機器人某個點的座標資料。

語法
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)

參數

  • PointNumber
    指定目前機器人點記憶體中某個點之點編號的整數運算式。
  • X
    指定點的X座標。
  • Y
    指定點的Y座標。
  • Z
    指定點的Z座標。
  • U
    指定點的U座標。
  • V
    指定點的V座標。
  • W
    指定點的W座標。
  • S
    指定點的S座標。
  • T
    指定點的T座標。
  • Local
    指定點的本地編號。沒有本地時請使用0。
  • Hand
    指定點的手部方向。
  • Elbow
    指定點的肘部姿勢。
  • Wrist
    指定點的腕部方向。
  • PointExpr
    使用運算式指定的點
    注意
    請勿將整數值輸入至X、Y、Z、U、V、W、S及T參數。使用單一變數或直接輸入單一類型值。

備註
如果發生錯誤，且SpelException的ErrorNumber屬性為3101，請執行以下任一操作。

  1. 將Windows的[控制面板] - [時鐘和區域] - [區域] - [格式] - [其他設定]中的[小數點符號]設為「.」。然後啟動.NET應用程式。
  2. 在調用.NET應用程式中的SetPoint方法之前，在System.Globalization.CultureInfo類別的CurrentCulture屬性中設定小數點符號設為「.」的CultureInfo執行個體。 如果有必要，在調用SetPoint方法後將CurrentCulture屬性復原。

CurrentCulture設定例 (C#):

// 保存CurrentCulture屬性的原始設定
var ciOrg = CultureInfo.CurrentCulture;
try
{
    // 從原始設定複製新設定，在NumberFormat.NumberDecimalSeparator設定小數點符號
    var ciNew = (CultureInfo)ciOrg.Clone();
    ciNew.NumberFormat.NumberDecimalSeparator = ".";
    // 在CurrentCulture屬性設定複製的屬性
    CultureInfo.CurrentCulture = ciNew;
    // 調用SetPoint方法
    m_spel.SetPoint(1, pt);
}
finally
{
    // 將CurrentCulture復原
    CultureInfo.CurrentCulture = ciOrg;
}

另請參閱
GetPoint方法, LoadPoints方法, SavePoints方法

SetPoint範例
要執行的RC+ 專案的SPEL+ 程式範例：

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  
' 取得P1的座標  
pt = m_spel.GetPoint(1)  
' 變更座標  
pt.U = pt.U - 10.5  
' 指定姿勢旗標  
pt.J1Flag = 1  
m_spel.SetPoint(1, pt)  
' 執行RC+專案的SPEL+函數  
m_spel.Call("SetOffset")  
' 使用字串運算式來設定座標及姿勢  
m_spel.SetPoint(2, "P(P_WorkDetect) +X(offsetX) +Y(offsetY) :Z(heightZ) +U  (offsetU) /A /J1F1")

C# 例：

SpelPoint pt;  
//  取得P1的座標  
pt = m_spel.GetPoint(1);  
//  變更座標  
pt.U = pt.U - 10.5;  
// 指定姿勢旗標  
pt.J1Flag = 1;  
m_spel.SetPoint(1, pt);  
// 執行RC+專案的SPEL+函數  
m_spel.Call("SetOffset")  
// 使用字串運算式來設定座標及姿勢  
m_spel.SetPoint(2, "P(P_WorkDetect) +X(offsetX) +Y(offsetY) :Z(heightZ) +U  (offsetU) /A /J1F1");

← SetVar方法 →

© 2025 Seiko Epson Corp.