ArmCalibSet Statement
Configures and displays arm length and joint offset settings.
Syntax
(1) ArmCalibSet setValue1, setValue2, setValue3
(2) ArmCalibSet
Parameters
| setValue | SCARA robots |
|---|---|
| 1 | Horizontal distance from joint #1 to joint #2 (mm) |
| 2 | Horizontal distance from Joint #2 to orientation center (mm) |
| 3 | Joint #2 angle offset (°) |
Return Values
When the ArmCalibSet instruction is executed without all parameters, the system displays arm length calibration parameters.
Description
ArmCalibSet sets parameters related to the arm length and joint offsets. Distance accuracy can be increased by using the length and joint offset of each arm that were precisely calculated at the factory and configuring settings using this command.
Robot parameter data is stored in the compact flash memory in the controller. Therefore, writing to the compact flash memory occurs when executing this command. Frequent writing to the compact flash memory affects the lifetime of the compact flash memory. We recommend limiting the use of this command at a minimum.
Note
Do not use ArmCalibSet unless absolutely necessary.
ArmCalibSet contains factory settings that have been precisely set. (When purchasing the Arm Length Calibration Option) Accidentally changing these settings adversely affects distance accuracy and trajectory accuracy. Do not change ArmCalibSet unless absolutely necessary.
See Also
ArmCalib, ArmCalibClr, ArmCalibDef
ArmCalibSet Statement Example
The following example is executed from the Command window.
> ArmCalibSet 299.989, 250.001, 0.012