Data Sheet

30
3. Examples
The following examples are included with the ArmSDK; ArmMonitor01,
ArmMonitor02, SimpleP2P, SimpleIK, and SimpleTorqueOnOffandFK.
3.1 ArmMonitor
In ArmMonitor allows viewing of a joint current position, target position, end
effector’s pose, and joint paramenters (Velocity, Acceleration, Position P, I, D Gain,
Velocity P, I Gain). Change the values from the table below to see changes.
- Joint’s values table
Note that a press of [ and { key denote decrease by shown units and }] denote
increase by shown units.
Key
Value
[
]
{
}
Position
-
+
-
+
Velocity
-100
+100
-200
+200
Acceleration
-1
+1
-2
+2
Position P Gain
-1
+1
-2
+2
Position I Gain
-1
+1
-2
+2
Position D Gain
-1
+1
-2
+2
Velocity P Gain
-1
+1
-2
+2
Velocity I Gain
-1
+1
-2
+2