ArmSet Function
Returns one ArmSet parameter.
Syntax
ArmSet(armNumber, paramNumber)
Parameters
- armNumber
- Integer expression representing the arm number to retrieve values for.
- paramNumber
- Integer expression representing the parameter to retrieve (0 to 5), as described below.
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
Returns the parameter setting specified from one of the above as a real number.
- SCARA robots
- Cartesian Robot
- SCARA Robots (RS Series)
RS Series: View from this direction
- 6-Axis Robot
| Symbol | Description |
|---|---|
| a | 1 |
| b | 2 |
| c | Auxiliary Arm |
See Also
ArmClr, ArmSet Statement
ArmSet Function Example
Real x
x = ArmSet(1, 1)