How To Teach The Positional Calibration Program (Clb.prg); How To Teach The Distortion Calibration Program(Cl(Dot Sequence Number).Prg) - Mitsubishi CR750-Q Series Instruction Manual

Calibration
No.
method
6 [Teaching] (display only)
7 [Read Calibration
Program from RC] button
8 [Execute Calibration]
button
9 [Undo Calibration] button
10 [Only Remake] button

17.6. How to teach the positional calibration program (CLB.prg)

Select [Transfer Calibration Program] button on "Position and Distortion Calibration" window, the program
named "CLB.prg" is transfered to the controller. This program is contained the positions for positional
calibration which is set "Calibration" window of MELFA-Works.
Register the correction position in the program for positional calibration as the following procedures.
1. Using the teaching box (T/B) which is connected to the controller, set "CLB.prg" program to edit mode.
2. Jump to the step on line 20 and execute the TOOL command step. Calibration is impossible unless
this line is executed.
3. Move the robot to each positions in this program (P**_O, P**_X, P**_Y(Each [**]is calibration data
number in MELFA-Works)). At this time, be carefull to avoid collision to peripherals.
4. If the positions that were moved and which were set on MELFA-Works are shifted, move the robot to the
position which is corresponds to an actual system and teach again.
5. Please operate the above-mentioned by all the registered position data.
P01_Y
before calibration
P01_O
before calibration
P01_X
before calibration
P01_X
after calibration

17.7. How to teach the distortion calibration program(CL(dot sequence number).prg)

Select [Write Calibration Program to RC] button on "Position and Distortion Calibration" window, the
program named "CL(dot sequence number)" is registered in the controller. This program is contained all dot
sequence positions.
Register the correction position in the program for distortion calibration as the following procedures.
1. Using the teaching box (T/B) which is connected to the controller, set "CL(dot sequence number)"
program to edit mode.
2. Move the robot to each positions in this program, check the position set on MELFA-Works whether shift.
At this time, move the robot noting no collision to peripherals.
3. If there is shift between moved position and a position set on MELFA-Works, " '0 " is added to move
Item
After transferring the distortion calibration program, use a
teaching box and similar to perform teaching.
See the detailed instruction procedure in Chapter 17.7.
Reads the distortion calibration program (CL (dot sequence
number).prg) from the robot controller after teaching.
Calibrates distortion of dot sequence data.
Use a distortion calibration program (CL (dot sequence
number).prg) uploaded from the robot controller to calibrate
positions of the dot sequence data set.
Click the button to return the dot sequence data set to the
initial status before calibration.
Reconfigures a dot sequence data set with the current settings
without performing positional or distortion calibration.
Use this function to test a dot sequence data before calibration
to the robot or MELFA-Works.
P01_Y
after calibration
P01_O
after calibration
Explanation
（Calibration program sample）
10 ERROR 9199
20 TOOL (50.0, 0.0, 40.0, 90.0, 0.0, 90.0)
30 'CLB 01
40 MOV P01_O
50 MOV P01_X
60 MOV P01_Y
Checking the calibration
70 '
position.
80 'CLB 02
90 MOV P02_O
100 MOV P02_X
110 MOV P02_Y
：
84
Auto operation stop line
Execute step and
set tool.