Hero-2000 Robot Arm Commands


NOTICE: Press the HOME key on the Robot's keyboard before you attempt to operate any of the Robot's motors. This presets all of the motors to certain positions so the microprocessor can keep track of them. You can also use the HOME command in a BASIC statement.


The ARM, ELBOW, PITCH, ROLL, and WRIST, GRIP, FORCE functions allow to control the operation of the Arm Accessory (standard on the wired model of the Robot). The functions are described briefly below, and you can refer to the "Alphabetical Reference Guide" for more detailed information. Also refer to "The Cue Instruction"

Note: All degrees are referenced to zero (arm straight up) unless otherwise noted All moves are checked to see if they are valid (will not hit another part of the arm) before the move occurs.

ARM degrees causes BASIC to move the arm to the position designated by degrees.

ELBOW degrees causes BASIC to move the arm to the position designated by degrees.

FORCE opens and closes the gripper so that a certain force is exerted.

GRIP causes the gripper to open or close to a certain position

PITCH degrees causes BASIC to move the wrist to the position designated by degrees. This function waits for a ROLL movement at a previous pitch, that is already occurring, to stop before it continues

ROLL degrees causes BASIC to rotate the wrist to the position designated by degrees. The wrist can roll 180 degrees from its 0 position If 180 is the desired position, it will take the shortest route to get there. This function waits for a PITCH movement at a previous roll that is already occurring, to stop before it continues.

WRIST causes BASIC to rotate both axes of the wrist to the desired position

MPOS(X) causes BASIC to point the position of one of the motors such as ARM, ELBOW, PITCH, ROLL, FOURCE, or GRIP