4 Calibration assistance function
Robot Programming Language 4-75
[Reference Program]
1 'P1 : Position data A, P2 : Position data B
2 MErr = PCalObtP(P1,P2,Pres) 'Calculate the intersection point of P1 and P2
3 If MErr <> 0 Then 'When the intersection point does not exist
4 Error 9100
5 EndIf
[Explanation]
(1) Calculate the intersection point of the straight line extended in + Z direction of the two position data and
output it.
(2) Only the XYZ component is assigned to the position variable specified in <Calculated position>. 0 is
assigned to the ABC component.
If two position and orientation data are the same, or if no intersection is obtained, all components 0 will be
substituted.
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