Mitsubishi Electric MELFA CR800-D Series - Page 66

4 Calibration assistance function
4-56 Workpiece coordinate calibration
PRMov.A = PVSMov.B * MGain
PRMov.B = PVSMov.A * MGain
PRMov.C = PVSMov.C * MGain
PRMov = PT2V * PRMov * Inv( PT2V )
PTrg = PTrg * PRMov
If MDH <= 1.0 Then ' Within the specified value (1.0 degree)
MFIN = 1 'end flag
Else
If MRTRY > 10 Then 'Retry more than 10 times
Error 9130
MRTRY = 0
Else
MRTRY = MRTRY+1
EndIf
EndIf
WEnd
Return