CalPls Statement
Specifies and displays the position and orientation pulse values for calibration.
Syntax
(1) CalPls j1Pulses, j2Pulses, j3Pulses, j4Pulses[, j5Pulses, j6Pulses] [, j7Pulses] [, j8Pulses, j9Pulses]
(2) CalPls
Parameters
- j1Pulses
- Specify the pulse value (integer) of the first joint as an expression or numerical value.
- j2Pulses
- Specify the pulse value (integer) of the second joint as an expression or numerical value.
- j3Pulses
- Specify the pulse value (integer) of the third joint as an expression or numerical value.
- j4Pulses
- Specify the pulse value (integer) of the fourth joint as an expression or numerical value.
- j5Pulses
- Optional. Fifth joint pulse value. This is a long integer expression.
- j6Pulses
- Optional. Sixth joint pulse value. This is a long integer expression.
- j7Pulses
- Optional. Seventh joint pulse value. This is a long integer expression.
- j8Pulses
- Optional. Eighth joint pulse value. This is a long integer expression.
- j9Pulses
- Optional. Nineth joint pulse value. This is a long integer expression.
Return Values
When parameters are omitted, displays the current CalPls values.
Description
Specifies and maintains the correct position pulse value(s) for calibration.
CalPls is intended to be used for maintenance, such as after changing motors or when motor zero position needs to be matched to the corresponding arm mechanical zero position. This matching of motor zero position to corresponding arm mechanical zero position is called calibration.
Normally, the calibration position Pulse values match the CalPls pulse values. However, after performing maintenance operations such as changing motors, these two sets of values no longer match, and therefore calibration becomes necessary.
Calibration may be accomplished by moving the arm to a certain calibration position and then executing Calib. By executing Calib, the calibration position pulse value is changed to the CalPls value (the correct pulse value for the calibration position.)
Hofs values must be determined to execute calibration. To have Hofs values automatically calculated, move the arm to the desired calibration position, and execute Calib. The controller automatically calculates Hofs values based on calibration position pulse values and on the CalPls values.
Note
CalPls Values Cannot be Changed by cycling power
CalPls values are not initialized by turning main power to the controller off and then on again. The only method to modify the CalPls values is to execute the Calib command.
See Also
Calib, Hofs
CalPls Statement Example
Monitor window operation
> CalPls 'Display current CalPls values
65523, 43320, -1550, 21351
> Pulse
PULSE: 1: 65526 pls 2: 49358 pls 3: -1542 pls 4: 21299 pls
> Calib 4
> Pulse
PULSE: 1: 65526 pls 2: 49358 pls 3: -1542 pls 4: 21351 pls
>