Mitsubishi Electric MELFA CR800-D Series User Manual page 76

4 Calibration assistance function
TlCal2D (Tool Calibration 2D)
[Function]
In the tool length calibration, calculate the tool length using the registered auxiliary point (3 points or more).
The calculated tool data is set to the robot controller (parameter MEXTL <tool number>), and its accuracy is
estimated.
In this command, two-dimensional tool data is calculated and the set tool coordinates are (X, Y, 0, 0, 0, 0).
[Format]
<Result> = TlCal2D <Tool number>
<Tool number>
<Result>
[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=TlCal2D 1
7 If MErr<>0 Then Error 9100
8 MCalErr=M_TlErr(1)
9 If MCalErr>0.25 Then Error 9100
[Explanation]
(1) In order to use TlCal2D, it is necessary to set at least three auxiliary points to be used for tool length
calibration beforehand. (Use the TlSetPt command to set the auxiliary point.)
(2) If auxiliary point setting is registered incorrectly, tool length may not be calculated.
[Related instructions]
TlClrPt, TlSetPt
[Related system variables]
M_TlErr
[Related parameter]
MEXTL1 to 16
4-66 Robot Programming Language
Specify the tool number to be registered.
Setting range: 1 to 16
Returns the execution result.
0 : Success
-1 : Failure
Not enough auxiliary points. To calculate the tool length using at least three
auxiliary points, please set at least two auxiliary points.
-2 : Failure
It is not possible to calculate the tool length from the set auxiliary point. Please set
the auxiliary point again.
-3 : Failure
Estimated error of calculated tool data is 100 mm or more. Please set the
auxiliary point again.
'Clear tool length and auxiliary point of tool number 1.
'Set auxiliary point.
'Calculate tool length (X, Y, 0) and register in tool number 1.
'If registration of the tool length fails, an error is output.
'Estimate tool length error.