Mitsubishi Electric MELFA CR800-D Series - Page 75

4 Calibration assistance function
Robot Programming Language 4-65
TlSetPt (Tool Set Point)
[Function]
In the tool length calibration, set the calculation auxiliary point.
In order to calculate the tool length, at least three auxiliary points are required.
[Format]
TｌSetPt <Tool number>, <Auxiliary point number>, <Robot position>
<Tool number> Specify the tool number to be registered.
Setting range: 1 to 16
<Auxiliary point number> Specify the auxiliary point number of tool length calibration.
Setting range: 1 to 8
<Robot position> Set the robot position (XYZ coordinate) to be registered in the
auxiliary point.
[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) Use the X, Y, Z, A, B, C elements of the position type to set the auxiliary point. The position data to be set
is XYZ coordinate.
(2) Before calculating the tool length, it is necessary to set three or more auxiliary points.
[Related instructions]
TlClrPt, TlCal2D, TlCal3D
[Related system variables]
M_TlErr
[Related parameter]
MEXTL1 to 16