Mitsubishi Electric CR750-Q Instruction Manual page 652

7Appendix
5) Calibration
Perform calibration at the [Calibration] page to change the coordinate system from the CAD coordi-
nate system to the robot world coordinate system.
If using Ex-T spline interpolation, there is no need to perform calibration.
Fig.7-39:Calibration screen
By clicking a point (red) on the viewer while holding down the Ctrl key, the selected point is registered
as the CAD coordinate system CO/CX/CY.
* The layer "CALIBRATION" point/circle (center point) is displayed as the CAD coordinate system
default.
The following two types of calibration setting methods are available.
• Selecting from existing spline files
By clicking the [Select from spline file] button, the Select spline file screen similar to that for Ex-T
control settings appears. Calibration data stored in the spline selected in the screen is read.
• Setting from three points of the CAD coordinate system, world coordinate system
Calibration data is set by setting the origin, position on +X-axis, and +Y-axis position on X-Y plane
on the CAD coordinate system, and the origin, position on +X-axis, and +Y-axis position on X-Y
plane on the world coordinate system.
Appendix-632 Spline interpolation