SPEL_LocalSet

Description

Sets the local coordinate number.

Common Inputs and Outputs

Reference: Function Blocks Common Inputs and Outputs

Inputs

NumAxes

INT number of axes in the robot.

For SCARA, use 4, for Articulate robot, use 6.

LocalNum

INT desired local number you want to get.

LocalX

REAL the desired coordinate value of X axis.

LocalY

REAL the desired coordinate value of Y axis.

LocalZ

REAL the desired coordinate value of Z axis.

LocalU

REAL the desired coordinate value of U axis.

LocalV

REAL the desired coordinate value of V axis.

LocalW

REAL the desired coordinate value of W axis.

Operation

Reference: Function Blocks General Operation

For more details, refer to the following manual:

"SPEL+ Language Reference manual - Local Statement"

Example

To set the coordinate values for local number 3 of a SCARA robot, enter values and run the Function Block as shown below.