Mitsubishi Electric MELFA CR800-D Series User Manual page 86
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
M_TlErr
[Function]
Returns error of tool data calculated by tool length calibration (execution of TlCal2D / TlCal3D command).
[Format]
[Reference Program]
1
Dim PTL(3)
2
TlClrPt 1
3
For M1=1 To 3
4
TlSetPt 1, M1, PTL(M1)
5
Next
6
MErr=TlCal3D 1
7
If MErr<>0 Then Error 9100
8
MCalErr=M_TlErr(1)
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
4-76 Robot Programming Language
Returns the execution result.
Specify the target tool number.
Setting range: 1 to 16
'Clear tool length and auxiliary point of tool number 1
'Set auxiliary point
'Calculate tool length (X, Y, Z) and register in tool number 1
'Failed to register the calibration data.
'Estimate error of calibration data.
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