Data Sheet

94
(11) int Arm_Set_JointAcceleration(veci accel);
Parameter
int joint Acceleration array
Returns
Communication Result
Description
Sets joint accelerations
COMM_RXSUCCESS return of 1
(12) int Arm_Set_JointAcceleration(int accel);
Parameter
int joint Acceleration
Returns
Communication Result
Description
Sets joint accelerations
COMM_RXSUCCESS return of 1
(13) int Arm_Set_Position_PID_Gain(int P_Gain, int I_Gain, int D_Gain);
Parameter
int joint Position P, I, D gain
Returns
Communication Result
Description
Sets joints’ PID gain values
COMM_RXSUCCESS return of 1
(14) int Arm_Set_Position_PID_Gain(int id, int P_Gain, int I_Gain, int D_Gain,
int* ErrorStatus);
Parameter
int id, int joint Position P, I, D gain
Returns
Communication Result
Description
Sets joints’ PID gain values
*ErrorStatus is error pointer
COMM_RXSUCCESS return of 1
(15) int Arm_Get_JointPosition(veci *position);
Parameter
joint position array
Returns
Communication Result
Description
Access position array and gets joint positions
COMM_RXSUCCESS return of 1