4 Calibration assistance function
4-76 Robot Programming Language
M_TlErr
[Function]
Returns error of tool data calculated by tool length calibration (execution of TlCal2D / TlCal3D command).
[Format]
<Numeric variable>=M_TlErr（<Tool number>）
<Numeric variable> Returns the execution result.
<Tool number> Specify the target tool number.
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 'Failed to register the calibration data.
8 MCalErr=M_TlErr(1) 'Estimate error of calibration data.
9 If MCalErr>0.25 Then Error 9100
[Explanation]
(1) This evaluation value means the accuracy of the tool data. It does not mean an error when the robot
operates.
(2) It turns to 0 when the power of the robot controller is turned off.
(3) Returns the error of tool data last calculated by tool length calibration (execution of TlCal2D / TlCal3D
command).
[Related instructions]
TlCal2D, TlCal3D
[Related parameter]
MEXTL1 to 16
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