6 Coordinated control for additional axes
Additional axis tracking 6-107
P_WkCalib
【Function】
Specify and refer to the position relationship of workpiece reference point and mounting target axis
coordinate.
【Format】
P_WkCalib [(<Workpiece number>)] = < Position variable 1>
<Position variable 2> = P_WkCalib [(<Workpiece number>)]
【Terminology】
<Workpiece number> Specify the target workpiece number.
Setting range：1 to 8, When it is ommited, it will be treated as 1
(0 is also treated as omission.)
Setting value 1 to 8 correspond to parameter WK1CALIB to WK8CALIB.
<Position variable1> Specify the offset amount from mechanical interface of axis to which
workpiece attached.
< Position variable2> Specify the position variable to assign.
【Reference program】
1 P_WkCalib(1) = P1 ' The mounting offset of workpiece No. 1 is set as P1.
【Explanation】
(1) Specify and refer to the position relationship of workpiece reference point which is specified by
<Workpiece number> and mechanical interface coordinate origin of mounting target axis. When placing a
workpiece reference point on the direct drive axis as below, specify the amount of change in position and
posture from the mechanical interface coordinate system origin to the workpiece reference point as the
offset amount.
(2) Initial value is set value of parameter "WK1CALIB" ~ "WK8CALIB”
(3) When you reset the program, it becomes the setting value of the corresponding parameter "WKnCALIB”.
(4) When the variable value is changed, it is not reflected to the parameter "WK1CALIB" to "WK8CALIB". The
value assigned to the status variable is retained until the power is turned off.
(5) The value assigned to the status variable is held until the power is turned off.
(6) When the additional axis tracking is effective, you can not change workpiece mounting position.
If you ttry to change, error L2662 (Work setting cannot be changed) occurs.
(7) When you refer to or set this status variable, if the additional axis tracking is disable (MELFA Smart Plus
card is not installed, parameter “SMART+1” is not set correctly, parameter “TRMODE” is not set correctly),
error L3781 (MELFA Smart Plus command can not be used.) occurs.
Workpiece
reference point
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