Mitsubishi Electric MELFA CR800-D Series User Manual page 66
Industrial robot
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Also See for MELFA CR800-D Series:
- User manual (194 pages) ,
- Instruction manual (60 pages) ,
- Standard specifications manual (128 pages)
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4 Calibration assistance function
PRMov.A = PVSMov.B * MGain
PRMov.B = PVSMov.A * MGain
PRMov.C = PVSMov.C * MGain
PRMov = PT2V * PRMov * Inv( PT2V )
PTrg = PTrg * PRMov
If MDH <= 1.0 Then
MFIN = 1
Else
If MRTRY > 10 Then
Error 9130
MRTRY = 0
Else
MRTRY = MRTRY+1
EndIf
EndIf
WEnd
Return
4-56 Workpiece coordinate calibration
' Within the specified value (1.0 degree)
'end flag
'Retry more than 10 times
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