Operating instructions

5. SPEL AOI Reference
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EPSON RC+ 7.0 Option AOI (Add-On Instructions) Rev.1
SPEL_LocalSet
Description
Sets the local coordinate number.
Common Inputs and Outputs
Refer to section 2.4 SPEL AOI Common Inputs and Outputs.
Inputs
NumAxes INT number of axes in the robot. For SCARA, use 4, for Articulate robot, use 6.
LocalNum INT desired local number you want to get.
LocalX REAL the desired coordinate value of X axis.
LocalY REAL the desired coordinate value of Y axis.
LocalZ REAL the desired coordinate value of Z axis.
LocalU REAL the desired coordinate value of U axis.
LocalV REAL the desired coordinate value of V axis.
LocalW REAL the desired coordinate value of W axis.
Operation
Refer to section 2.5 SPEL AOI General Operation.
Refer to Local Statement in the SPEL+ Language Reference manual.
Example
To set the coordinate values for local number 3 of a SCARA robot, enter values and run the AOI as shown below.