Mitsubishi Electric CR750-Q Instruction Manual page 309

SetCalFrm (Set Calibration Frame)
[Function]
Sets the reference coordinate system used for frame transformation.
Two types of reference coordinate systems (pre-frame transformation and post-frame transformation) are
set with this command.
Note) This command is supported with software version R5 or later (F-Q series) or S5 or later (F-D series).
[Format]
SetCalFrm []<Position 1>, <Position 2>, <Position 3>, <Position 4>, <Position 5>, <Position 6>
[Terminology]
<Position 1>
<Position 2>
<Position 3>
<Position 4>
<Position 5>
<Position 6>
[Reference Program]
1 PR1=(0, 0, 0, 0, 0, 0)(0, 0)
2 PR2=(1, 0, 0, 0, 0, 0)(0, 0)
3 PR3=(0, 1, 0, 0, 0, 0)(0, 0)
4 PC1=(0, 0, 0, 0, 0, 0)(0, 0)
5 PC2=(1, 1, 0, 0, 0, 0)(0, 0)
6 PC3=(-1, 1, 0, 0, 0, 0)(0, 0)
7 SetCalFrm PR1, PR2, PR3, PC1, PC2, PC3 ' Sets the reference coordinate system used for frame
8 MvSpl 5, 50, 20, 2
[Explanation]
(1) Position data for defining the two types of reference coordinate systems (pre-frame transformation and
post-frame transformation) used for frame transformation are set. Three position data items are
required to define one coordinate system, so a total of six points of position data is set. In this example
The position data used as the origin for the X, Y and Z axes in the pre-frame transformation
reference coordinate system is designated with a position variable or position constant.
The position data used as the origin for the +X axis in the pre-frame transformation reference
coordinate system is designated with a position variable or position constant.
The position data used as the +Y direction point in the X-Y plane of the pre-frame trans-
formation reference coordinate system is designated with a position variable or numeric
constant.
The position data used as the origin for the X, Y and Z axes in the post-frame transformation
reference coordinate system is designated with a position variable or position constant.
The position data used as the origin for the +X axis in the post-frame transformation ref-
erence coordinate system is designated with a position variable or position constant.
The position data used as the +Y direction point in the X-Y plane of the post-frame trans-
formation reference coordinate system is designated with a position variable or numeric
constant.
' Origin position of pre-frame transformation reference
coordinate system
' +X axis position of pre-frame transformation reference
coordinate system
' +Y direction position of pre-frame transformation refer-
ence coordinate system
' Origin position of post-frame transformation reference
coordinate system
' +X axis position of post-frame transformation reference
coordinate system
' +Y direction position of post-frame transformation refer-
ence coordinate system
transformation
' Reference coordinate system after frame transformation
is coordinate system rotated +45 degrees around Z axis
' Using the reference coordinate system set with the Set-
CalFrm command, the spline file 5 path points are
frame-transformed, and spline interpolation passing
through those path points is executed
Detailed explanation of command words 4-289
4MELFA-BASIC V