Toshiba TSL3000 - Correcting the Position of the Robot

STE 80722
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COMMUNICATION MANUAL
series Robot Controller
4.2.2 Correcting the Position of the Robot
Data received from the host computer can be used to correct the position of the
robot.
Directly specifying position (COJM1)
PROGRAM DIRECT
X=0.0
Y=0.0
Z=0.0
C=0.0
T=0.0
PRINT COM1,"REQ"
INPUT X,Y,Z,C,T,SUM
IF SUM==X+Y+Z+C+T+1
THEN GOTO ACTION
PRINT COM1,"NG"
GOTO FIN
ACTION:
PRINT COM1,"OK"
P1=POINT(X,Y,Z,C,T)
MOVE P1
FIN:
END
In this program, the controller moves the
robot to a position specified by the
external device.
The controller sends the character string
REQ to the external device. The external
device will respond by sending back the
values for positional data X, Y, Z, C, and
T, and also the sum of these values plus 1
(as check-sum data). The controller will
then see if the received data is correct by
adding all the positional data, adding 1 to
the result, and determining if check-sum
value agrees with the value. If it does
agree, the controller will send the
character string OK.
If the received data is wrong, the controller
will send the character string NG back to
the external device and quit the program.
The controller will create positional data
P1 using that data and then tell the robot
to move to that point.