NRC_CalibrationToolCoord_7Pos(int toolNum, NRC_Position& pos1, NRC_Position& pos2, NRC_Position& pos3, NRC_Position& pos4, NRC_Position& pos5, NRC_Position& pos6, NRC_Position& pos7)
Calibrate tool hand--7-point calibration
Automatically calculate the deviation of the tool end position relative to the robot end position, so as to determine the tool coordinate system
Type
int =>Calibrate tool hand--7-point calibration
| Return value | Description |
|---|---|
| 0 | The function is called successfully |
| -101 | Invalid input parameter |
| -102 | The target object does not exist. This typically occurs when the system initialization is incomplete, and calling other functions may return this value |
| -103 | The target object is currently in an inoperable state |
Parameter Option
| Parameter | Type | Description |
|---|---|---|
| toolNum | int | The number of the tool hand to be set, parameter range: 0 < toolNum < 10 |
| pos1 | NRC_Position& | A position where the tool end is aligned with a fixed tip and the tool hand is kept perpendicular |
| pos2 | NRC_Position& | A position where the tool end is aligned with a fixed tip, it cannot be the same as pos1, pos3, and pos4 |
| pos3 | NRC_Position& | A position where the tool end is aligned with a fixed tip, it cannot be the same as pos1, pos2, and pos4 |
| pos4 | NRC_Position& | A position where the tool end is aligned with a fixed tip, it cannot be the same as pos1, pos2, and pos3 |
| pos5 | NRC_Position& | A position where the tool hand is kept perpendicular, it can be the same as pos1 |
| pos6 | NRC_Position& | A position on the positive X-axis relative to pos5 |
| pos7 | NRC_Position& | A position on the positive Y-axis relative to pos6 |
Sample code
int targetToolNum = 0;//0 <=targetToolNum < 10
NRC_Position pos1={NRC_MCS,395,-1.81881,594.958,3.07933,0.07355,0.098098};
NRC_Position pos2={NRC_MCS,339,19.981,594.958,3.14123,0.035271,0.075413};
NRC_Position pos3={NRC_MCS,361,45.9644,574.975,3.11503,0.06839,0.076293};
NRC_Position pos4={NRC_MCS,354,75.9478,600.958,3.11062,0.026388,0.141466};
NRC_Position pos5={NRC_MCS,395,-1.81881,594.958,3.07933,0.07355,0.098098};
NRC_Position pos6={NRC_MCS,332,-1.81886,594.958,3.07933,0.07355,0.098098};
NRC_Position pos7={NRC_MCS,332,27.7778,594.958,3.07933,0.073549,0.098098};
NRC_CalibrationToolCoord_7Pos(toolNum, pos1, pos2, pos3, pos4, pos5, pos6, pos7);