ArmSet Statement
Specifies and returns auxiliary arms.
Syntax
(1) ArmSet armNumber, link2Dist, joint2Offset, zOffset [, link1Dist] [, orientAngOffset]: SCARA (including RS series)
(2) ArmSet armNumber, link1Dist, link2Dist, link3Dist, link4Dist, link5Dist, link6Dist, joint1Offset, joint2Offset, joint3Offset, joint4Offset, joint5Offset, joint6Offset: 6-Axis (including N series)
(3) ArmSet armNumber
(4) ArmSet
Parameters
- armNumber
- Specify an integer from 1 to 15 as an expression or a numeric value. The user may define up to 15 different auxiliary arms.
paramNumber SCARA Robots (including RS series) 6-Axis Robots (including N series) 1 Horizontal distance from Joint #2 to orientation center (mm) Vertical distance from base to joint #2 (mm) 2 Joint #2 angle offset (degree) Horizontal distance from joint #1 to joint #2 (mm) 3 Height offset (mm) Distance from joint #2 to joint #3 (mm) 4 Horizontal distance from joint #1 to joint #2 (mm) Vertical distance from joint #3 to joint #5 (mm) 5 Joint #4 angle offset in degrees. Horizontal distance from joint #3 to joint #5 (mm) 6 - Distance from joint #5 to orientation center (mm) 7 - Joint #1 angle offset in degrees. 8 - Joint #2 angle offset in degrees. 9 - Joint #3 angle offset in degrees. 10 - Joint #4 angle offset in degrees. 11 - Joint #5 angle offset in degrees. 12 - Joint #6 angle offset in degrees.
Return Values
When the ArmSet instruction is initiated without parameters, the system displays all the auxiliary arm numbers and parameters.
The specified arm numbers and parameters will be displayed when only the arm number is specified.
Description
Allows the user to specify auxiliary arm parameters to be used in addition to the standard arm configuration. This is most useful when an auxiliary arm or hand is installed to the robot. When using an auxiliary arm, the arm is selected by the Arm instruction.
The link1Dist and orientAngOffset parameters are optional. If they are omitted, the default values are the standard arm values.
The auxiliary arm configuration capability is provided to allow users to configure the proper robot parameters for their robots when the actual robot configuration is a little different than the standard robot. For example, if the user mounted a 2nd orientation joint to the 2nd robot link, the user will probably want to define the proper robot linkages for the new auxiliary arm which is formed. This will allow the auxiliary arm to function properly under the following conditions:
- Specifying that a single data point be moved through by 2 or more arms.
- Using Pallet
- Using Continuous Path motion
- Using relative position specifications
- Using Local coordinates
For SCARA robots (including RS series) with rotating joints used with a Cartesian coordinate system, joint angle calculations are based on the parameters defined by the ArmSet parameters. Therefore, this command is critical if any auxiliary arm or hand definition is required.
Robot parameter data is stored in compact flash in controller. Therefore, writing to command flash occurs when executing this command. Frequent writing to compact flash affect to lifetime of compact flash. We recommend to use this command minimally.
Notes
Arm 0
Arm 0 cannot be defined or changed by the user. It is reserved since it is used to define the standard robot configuration. When the user sets Arm to 0 this means to use the standard robot arm parameters.
SCARA robots
Cartesian Robot
SCARA Robots (RS Series)
6-Axis Robot
| Symbol | Description |
|---|---|
| a | 1 |
| b | 2 |
| c | Auxiliary Arm |
See Also
Arm, ArmClr
ArmSet Statement Example
The following examples are potential auxiliary arm definitions using the ArmSet and Arm instructions. ArmSet defines the auxiliary arm and Arm defines which Arm to use as the current arm. (Arm 0 is the default robot arm and cannot be adjusted by the user.)
From the command window:
> ArmSet 1, 300, -12, -30, 300, 0
> ArmSet
Arm 0: 125.000, 0.000, 0.000, 225.000, 0.000
Arm 1: 300.000, -12.000, -30.000, 300.000, 0.000
> Arm 0
> Jump P1 'Jump to P1 using the Standard Arm Config
> Arm 1
> Jump P1 'Jump to P1 using auxiliary arm 1