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10.4.3.9. TONL

10.4.3.9. TONL​

 

If the new locations of the 3 reference steps are measured with the external detection device (RS232C port) such as visual device as shown in Fig. 10.7, and each shift is transmitted to the robot controller, the robot controller will use the 3 reference points and 3 shifted points to calculate the absolute location or shift. This is the function to execute and play the location calibration for the steps between TONL start and end.

 

Figure 10.7 Online coordinates conversion

 

Explanation

Online coordinates conversion (shift amount)

Grammar

TONL SFT=<Receipt format>, ST=<start/end>, <ref.step num.1>, <ref.step num.2>, <ref.step num.3>

Parameter

Receipt format

Data receipt format. 0=Absolute coordinate, 1=Shift

0~1

start/end

If 1, coordinates conversion begins. If 0, coordinates conversion ends.

0~1

ref.step num.

Steps to be assigned as the three standard points

0~999

Example

TONL SFT=0,ST=1,S1,S5,S7

Note

To execute this function, SREQ statement is required before TONL statement.

This function receives the new locations of the 3 reference steps in 3 absolute location or shifts to calculate the shifts.