Mitsubishi Electric MELFA CR800-D Series - Page 74

4 Calibration assistance function
4-64 Robot Programming Language
TlClrPt (Tool Clear Point)
[Function]
In the tool length calibration, initialize the calculation auxiliary point set to the target tool number and the tool
data (parameter MEXTL <Tool number>).
[Format]
TlClrPt <Tool number>
<Tool number> Specify the tool number to be registered.
Setting range: 1 to 16
[Reference Program]
1 Dim PTL(3)
2 TlClrPt 1 'Clear tool length and auxiliary point of tool number 1.
3 For M1=1 To 3
4 TlSetPt 1, M1, PTL(M1) 'Set auxiliary point.
5 Next
6 MErr=TlCal3D 1 'Calculate tool length (X, Y, Z) and register in tool number 1.
7 If MErr<>0 Then Error 9100 'If registration of the tool length fails, an error is output.
8 MCalErr=M_TlErr(1) 'Estimate tool length error.
9 If MCalErr>0.25 Then Error 9100
[Explanation]
(1) All set auxiliary points and tool data are deleted. Please use with care.
[Related instructions]
TlSetPt, TlCal2D, TlCal3D
[Related system variables]
M_TlErr
[Related parameter]
MEXTL1 to 16