[Tools]-[Robot Manager]-[Arms] Page

This page allows you to define Arm settings for a robot. When the tab is selected, the current Arm values are displayed. The tab is disabled if the current robot does not support the Arm command.

A grid is used to display all the values for all 15 arm configurations you can define.

When an arm is undefined, then all fields for that arm will be blank. When you enter a value in any of the fields for an undefined arm, then the remaining fields will be set to zero and the tool will be defined when you click the [Apply] button.

For more details on arm settings, refer to the following manual:

"SPEL+ Language Reference - ArmSet Statement"

Navigating the grid

Press the [Tab] key to move to the next cell. Press the [Shift] + [Tab] key to move to the previous cell. Press the arrow [↑] or [↓] key to move to the cell above or below.

Item	Description
Arm Wizard	Open the wizard for configuring the additional arm using the camera. Define the tool by following the instructions. For more details, refer to the following manual: "Vision Calibration" in "Vision Guide 8.0 Software"
L2 Dist	Distance between the center of joint 2 and the center of the orientation joint in millimeters.
J2 Offset	Angle of the line from the center of joint 2 to the center of the orientation joint in “°”.
Z Offset	The Z offset between the new orientation axis and the standard orientation axis.
L1 Dist	Distance between the center of the shoulder joint and the center of the elbow joint in millimeters.
U Offset	The angle offset between the standard orientation zero position and the new orientation axis zero position in “°”.
Apply	Sets the current values.
Restore	Reverts to the previous values.
Clear	Clears all selected values.