Mitsubishi Electric MELFA CR800-D Series - Robot Programming Language for Calibration

4 Calibration assistance function
4-62 Robot Programming Language
4.5 Robot Programming Language
It describes commands, system functions, and state variables used in the automatic calibration function.
4.5.1 Language list
(1) Command list
Table 4-9 Commands used in the calibration support function
No.
Target function
Command
Explanation
Page
1
Tool length
calibration
TlClrPt
Initialize calculation auxiliary points. (Set all points to
zero)
4-64
2
TlSetPt
Set one calculation auxiliary point.
4-65
3
TlCal2D
Calculate the tool coordinate (XY) and write it in the
parameter MEXTLn (n: 1 to 16).
4-66
4
TlCal3D
Calculate the tool coordinate (XYZ) and write it in the
parameter MEXTLn (n: 1 to 16).
4-67
5
Vision calibration
VSCalClr
Clear the image coordinates of the target calibration
number and the robot coordinates.
4-68
6
VSSetCP
Set corresponding points between image coordinates
and robot coordinates.
4-69
7
VSRegCD
Calibration data is obtained from a plurality of
corresponding points and registered in the robot
controller.
4-70
(2) System function list
Table 4-10 System function used in the calibration support function
No.
Target function
System
function
Explanation
Page
1
-
PVSCal
Convert image coordinates to robot coordinates using
vision calibration data (parameters VSCALB 1-8).
4-71
2
Workpiece
coordinate
calibration
PVSDrct
Calculate the attitude of the camera from the
calibration data.
4-72
3
PCalObtP
The point of interest is calculated from the two position
data of the robot.
4-74
(3) State variable list
Table 4-11 State variable used in the calibration support function
No.
Target function
State
variable
Explanation
Page
1
Tool length
calibration
M_TlErr
Returns the estimation error of the tool coordinates of
the specified tool number.
4-76
2
Vision caribration
M_VSDErr
Returns the estimation error of the specified vision
calibration data.
4-77