Mitsubishi Electric MELFA CR800-D Series User Manual page 75

TlSetPt (Tool Set Point)
[Function]
In the tool length calibration, set the calculation auxiliary point.
In order to calculate the tool length, at least three auxiliary points are required.
[Format]
TｌSetPt <Tool number>,
<Tool number>
<Auxiliary point
<Robot position>
[Reference Program]
1 Dim PTL(3)
2 TlClrPt 1
3 For M1=1 To 3
4 TlSetPt 1, M1, PTL(M1)
5 Next
6 MErr=TlCal3D 1
7 If MErr<>0 Then Error 9100
8 MCalErr=M_TlErr(1)
9 If MCalErr>0.25 Then Error 9100
[Explanation]
(1) Use the X, Y, Z, A, B, C elements of the position type to set the auxiliary point.
is XYZ coordinate.
(2) Before calculating the tool length, it is necessary to set three or more auxiliary points.
[Related instructions]
TlClrPt, TlCal2D, TlCal3D
[Related system variables]
M_TlErr
[Related parameter]
MEXTL1 to 16
<Auxiliary point number>, <Robot position>
Specify the tool number to be registered.
Setting range: 1 to 16
number> Specify the auxiliary point number of tool length calibration.
Setting range: 1 to 8
Set the robot position (XYZ coordinate) to be registered in the
auxiliary point.
'Clear tool length and auxiliary point of tool number 1.
'Set auxiliary point.
'Calculate tool length (X, Y, Z) and register in tool number 1.
'If registration of the tool length fails, an error is output.
'Estimate tool length error.
4 Calibration assistance function
The position data to be set
Robot Programming Language 4-65