Correcting The Position Of The Robot - Toshiba TS3000 Series Instruction Manual

series Robot Controller
4.2.2

Correcting the Position of the Robot

Data received from the host computer (upper level computer) can be used to correct
the position of the robot.
Directly specifying position (COM1)
PROGRAM DIRECT
X=0.0
Y=0.0
Z=0.0
A=0.0
B=0.0
C=0.0
U=0.0
V=0.0
PRINT COM1,"REQ"
INPUT X,Y,Z,A,B,C,U,V,SUM
IF SUM==X+Y+Z+A+B+C+U+V+1
THEN GOTO ACTION
PRINT COM1,"NG"
GOTO FIN
ACTION:
PRINT COM1,"OK"
P1=POINT(X,Y,Z,A,B,C,U,V,00000)
MOVE P1
FIN:
END
COMMUNICATION MANUAL
In this program, the controller moves the
robot to a position specified by the
external device.
The controller sends the character string
REQ to the external device.
The external device will respond by
sending back the values for positional
data X, Y, Z, A, B, C, U and V, and also
the sum of these values plus 1 (as
check-sum data). The controller will then
see if the received data is correct by
adding all the positional data, adding 1 to
the result, and determining if check-sum
value. If it does agree, the controller
judges that the transmission was correctly
received and sends back the character
string NG.
Assuming that the transmission was
correctly received, the controller will create
positional data P1 using that data and
then tell the robot to move to that point.
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