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11. Robot Language Explanation
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11.3.6 TONL1 Command
Introduction
Online coordinate conversion (Slipping) is a function to play back teached position
correcting the difference transmitted from the external equipments such as vision
system.
It finds a shift amount of specified basic 3 points and saves the shift amount
transmitted through RS232C port in shift registers.
11.3.7 TONL2 Command
Introduction
Online coordinate conversion (coordinate value) is a function to play back teached
position correcting the difference transmitted from the external equipments such as
vision system.
It finds a coordination (robot coordination) of specified basic 3 points and receives
coordination through RS232C port and saves shift amount in on line shift registers.
Note
(1) TONL1 (M53) : Online coordinate conversion (Slipping) uses the contents of shift
registers as shift amount.
(2) TONL2 (M54) : Online coordinate conversion (coordinate value) uses the contents
of shift registers as coordination system.
Description Online coordinate conversion (Slipping) (M53)
Syntax
TONL1 ST=<Start/End>,RF1=<Basic Step number1>,RF2=<Basic Step
number2>,RF3=<Basic Step number3>
Start/End If 1, Coordinate conversion starts. If 0, exits. 0∼1
Parameter
Basic Step
number
The step numbers to be set for 3 base points. 0∼999
example TONL1 ST=1,RF1=1,RF2=5,RF3=7
Description Online coordinate conversion (coordinate value) (M54)
Syntax
TONL2 ST=<Start/End>,RF1=<Basic Step number1>,RF2=<Basic Step
number2>,RF3=<Basic Step number3>
Start/End If 1, coordinate conversion starts. If 0, exits 0∼1
Parameter
Basic Step
number
Step numbers to be set for 3 base points. 0∼999
example TONL2 ST=1,RF1=1,RF2=5,RF3=7