Mitsubishi Electric MELFA BFP-A3614 Manual page 190

(→ Continuation of (3) Coordinate calculation)
69 If M_SkipCq=1 Then
70 PY(M1)=P_FsLmtP
71 MFLG=MFLG+1
72 EndIf
73 Mvs P0
74 Fsc Off
75 Fsc On,0,0,1
76 Next M1
77 '
78 If MFLG=4 Then
79 PTMP=(PX(1)+PX(2))/2
80 P0.X=PTMP.X
81 PTMP=(PY(1)+PY(2))/2
82 P0.Y=PTMP.Y
83 Else
84 Error 9100
85 EndIf
86 End
'If skipped, the position where the force detection setting value is
exceeded is retained.
'Force sense control is temporarily enabled to reset P_FsLmtP.
'4 points are found.
'The X-axis direction center position is set for P0.
'The Y-axis direction center position is set for P0.
'4 points are not found.
'Elicit error L9100.
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