RAPID reference manual - Technology

MToolTCPCalibRobotWare-OSInstructionExample! Created with actual TCP pointing at the world fixed tipCONST jointtarget p1 := [...];CONST jointtarget p2 := [...];CONST jointtarget p3 := [...];CONST jointtarget p4 := [...];PERS tooldata tool1:= [ TRUE, [[0, 0, 0], [1, 0, 0 ,0]], [0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];VAR num max_err;VAR num mean_err;...! Instructions for createing or ModPos of p1 - p4MoveAbsJ p1, v10, fine, tool0;MoveAbsJ p2, v10, fine, tool0;MoveAbsJ p3, v10, fine, tool0;MoveAbsJ p4, v10, fine, tool0;...MToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;The TCP value (tframe.trans) of tool1 will be calibrated and updated. max_err and mean_err will hold the max. error in mm from the calculated TCPand the mean error in mm from the calculated TCP, respectively.ArgumentsMToolTCPCalibPos1Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErrData type: jointtargetThe first approach point.Pos2Data type: jointtargetThe second approach point.Pos3Data type: jointtargetThe third approach point.Pos4Data type: jointtargetThe fourth approach point.ToolData type: tooldataThe name of the tool that is to be calibrated.304 RAPID reference manual - part 1a, Instructions A-R