Robot Programming Language; Language List - Mitsubishi Electric MELFA CR800-D Series User Manual
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- User manual (194 pages) ,
- Instruction manual (60 pages) ,
- Standard specifications manual (128 pages)
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4 Calibration assistance function
Robot Programming Language
4.5
It describes commands, system functions, and state variables used in the automatic calibration function.
4.5.1 Language list
(1) Command list
No.
Target function
Tool length
1
calibration
2
3
4
Vision calibration
5
6
7
(2) System function list
No.
Target function
1
-
2
Workpiece
coordinate
calibration
3
(3) State variable list
No.
Target function
1
Tool length
calibration
2
Vision caribration
4-62 Robot Programming Language
Table 4-9
Commands used in the calibration support function
Command
TlClrPt
Initialize calculation auxiliary points. (Set all points to
zero)
TlSetPt
Set one calculation auxiliary point.
TlCal2D
Calculate the tool coordinate (XY) and write it in the
parameter MEXTLn (n: 1 to 16).
TlCal3D
Calculate the tool coordinate (XYZ) and write it in the
parameter MEXTLn (n: 1 to 16).
VSCalClr
Clear the image coordinates of the target calibration
number and the robot coordinates.
VSSetCP
Set corresponding points between image coordinates
and robot coordinates.
VSRegCD
Calibration data is obtained from a plurality of
corresponding points and registered in the robot
controller.
Table 4-10 System function
System
function
PVSCal
Convert image coordinates to robot coordinates using
vision calibration data (parameters VSCALB 1-8).
PVSDrct
Calculate the attitude of the camera from the
calibration data.
PCalObtP
The point of interest is calculated from the two position
data of the robot.
Table 4-11 State variable
State
variable
M_TlErr
Returns the estimation error of the tool coordinates of
the specified tool number.
M_VSDErr
Returns the estimation error of the specified vision
calibration data.
Explanation
used in the calibration support function
Explanation
used in the calibration support function
Explanation
Page
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4-71
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Page
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