HofsJointAccuracy Statement
Sets and displays the offset pulses between the encoder origin and the software origin without changing the joint accuracy offset values.
Syntax
(1) HofsJointAccuracy j1Pulses, j2Pulses, j3Pulses, j4Pulses [, j5pulses, j6pulses] [, j7pulses] [, j8pulses, j9pulses]
(2) HofsJointAccuracy
Parameters
- j1Pulses
- Specify Joint #1 correction pulse value (integer) as an expression or numeric value.
- j2Pulses
- Integer expression representing joint 2 offset pulses.
- j3Pulses
- Integer expression representing joint 3 offset pulses.
- j4Pulses
- Integer expression representing joint 4 offset pulses.
- j5Pulses
- Parameter for 6 axis robots (including N series). Integer expression representing joint 5 offset pulses.
- j6Pulses
- Parameter for 6 axis robots (including N series). Integer expression representing joint 6 offset pulses.
- j7Pulses
- Parameter for Joint type 7-axis robots. Integer expression representing joint 7 offset pulses.
- j8Pulses
- Parameter for additional axis S joint. Integer expression representing joint 8 (additional S axis) offset pulses.
- j8Pulses
- Parameter for additional axis T joint. Integer expression representing joint 9 (additional T axis) offset pulses.
Return Values
Displays current Hofs values when used without parameters.
Description
HofsJointAccuracy displays or sets the home position offset pulses without changing the joint accuracy offset values. For more information about joint accuracy offset-compatible models, refer to the following manual:
"Manipulator Manual"
Although the robot motion control is based on the zero point of the encoder mounted on each joint motor, the encoder zero point may not necessarily match the robot mechanical zero point. The Hofs offset pulse correction pulse is used to carry out a software correction to the mechanical 0 point based on the encoder 0 point.
When values change at any joint, the Hofs statement resets the corresponding joint accuracy offset value set with JointAccuracy to 0, but the HofsJointAccuracy statement does not reset the value. Use HofsJointAccuracy if you do not wish to reset the joint accuracy offset value to 0.
Note
Do not use Hofs values unless absolutely necessary.
Hofs values have been precisely set at the factory. Changing these values unnecessarily may lead to positioning errors and other hazardous unexpected behavior. Do not change Hofs values unless absolutely necessary.
See Also
JointAccuracy, Hofs
HofsJointAccuracy Statement Example
The following is a simple example using the Command window. This example sets the Joint #1 home offset value to be “-545”, the Joint #2 home offset value to be “514”, and the Joint #3 and the Joint #4 home offset values to both be “0”. It then displays the current home offset values. Joint accuracy offset values do not change when using HofsJointAccuracy.
> JointAccuracy 1
1000, 420, 100, 240
> HofsJointAccuracy -545, 514, 0, 0
> HofsJointAccuracy
-545, 514, 0, 0
> JointAccuracy 1
1000, 420, 100, 240
>