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Pc Command

Sets a new value of a Parameter Database item.

pc dataid, unit, unit2, array_index, node, key = <new_value>

Prerequisites

None

Parameters

dataid

A required numeric expression that specifies an Integer identification code for the parameter to be accessed.  For example, the parameter for setting the system “test speed” is 601.

unit

An optional numeric expression that specifies an Integer unit number for the parameter to be accessed.  For many parameters, e.g. the Controller, only a single unit exists.  For parameters that refer to devices with multiple possible units, e.g. multiple robots driven by a single controller, this parameter ranges from 1 to n.  If not specified, this value defaults to 1.

unit2

An optional numeric expression that specifies an Integer sub unit number for the parameter to be accessed.  The use of the sub unit number is not very common and this parameter is normally just defaulted to 1.

array_index

An optional numeric expression that specifies an Integer array index for parameters that have multiple values.  For example, for a robot with multiple axes, the “joint maximum soft stop limits” (dataid 16077) is an array with one value for each joint.  If not specified, this value defaults to 0, which sets all possible array values.

node

An optional numeric expression that specifies an Integer servo network node number. If omitted, the command operates normally. If present, the command is executed on the specified servo network node. Used for testing and debugging the servo network.

key

An optional numeric expression that specifies an Integer key code to override robot configuration protection and set a protected DataID value.

Remarks

As described in the Controller Software Introduction, all of the key variables for configuring and monitoring the operation of the system are stored in a unified Parameter Database.   pc can be used to set all accessible values in the parameter database. Some values are read-only and cannot be set.

If the parameter contains numeric values, the new_value field should be entered as numbers separated by commas (in the case of numeric arrays).  If the parameter requires a string value, the string must be delimited by double quotes and arrays of strings must be separated by commas.

Numeric values may optionally be enclosed in double quotes.  Numeric values may optionally be preceded by &H, indicating a hexadecimal value.

While database values can be freely read, care should be taken when writing to general Database Parameters. Unintentionally altering some values may cause the system to not operate properly.

Examples

pc 2000 = 4

pc 16077 = 600, 600, 500, 600
pd 16077
16077, 1, 1, 0, "Joint max soft stop limit" = 600, 600, 500, 600

pc 16077,,,2 = 650
pd 16077
16077, 1, 1, 0, "Joint max soft stop limit" = 600, 650, 500, 600

pc 109 = "My controller"

See Also

Console Commands | Pd, Pdx Commands