Group_Tool_Calibration

Fuctions for the group to calibrate its tool coordination. More...

Collaboration diagram for Group_Tool_Calibration:

Functions
RTN_ERR FNTYPE	NMC_ToolCalib_4p (const Pos_T *PMcsKinP1, const Pos_T *PMcsKinP2, const Pos_T *PMcsKinP3, const Pos_T *PMcsKinP4, CoordTrans_T *PRetToolCoordTrans, F64_T *PRetTolerance)
	ool calibration - TCP translation method More...
RTN_ERR FNTYPE	NMC_ToolCalib_4pWithZ (const Pos_T *PMcsKinP1, const Pos_T *PMcsKinP2, const Pos_T *PMcsKinP3, const Pos_T *PMcsKinP4ZDir, CoordTrans_T *PRetToolCoordTrans, F64_T *PRetTolerance)
	Tool calibration - TCP translation with Z-direction setting method. More...
RTN_ERR FNTYPE	NMC_ToolCalib_4pWithOri (const Pos_T *PMcsKinP1, const Pos_T *PMcsKinP2, const Pos_T *PMcsKinP3, const Pos_T *PMcsKinP4, const Pos_T *PMcsKinMinusZAxisPt, const Pos_T *PMcsKinYZPlanPt, CoordTrans_T *PRetToolCoordTrans, F64_T *PRetTolerance)
	Tool calibration - TCP translation with orientation setting method. More...
RTN_ERR FNTYPE	NMC_ToolCalib_Ori (const Pos_T *PMcsKinOrg, const Pos_T *PMcsKinMinusZAxisPt, const Pos_T *PMcsKinYZPt, CoordTrans_T *PRetToolCoordTrans)
	Tool calibration - Orientation setting method. More...

Detailed Description

Fuctions for the group to calibrate its tool coordination.

Function Documentation

RTN_ERR FNTYPE NMC_ToolCalib_4p	(	const Pos_T *	PMcsKinP1,
		const Pos_T *	PMcsKinP2,
		const Pos_T *	PMcsKinP3,
		const Pos_T *	PMcsKinP4,
		CoordTrans_T *	PRetToolCoordTrans,
		F64_T *	PRetTolerance
	)

ool calibration - TCP translation method

Parameters

	PMcsKinP1	The first step position, TCP must (as far as possible) fall in the reference position
	PMcsKinP2	The second step position, TCP must (as far as possible) fall in the reference position
	PMcsKinP3	The third step position, TCP must (as far as possible) fall in the reference position
	PMcsKinP4	The forth step position, TCP must (as far as possible) fall in the reference position
[out]	PRetToolCoordTrans	Return setting of Tool coordinate convertion
[out]	PRetTolerance	Return tolerance

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

Reference:
None.

RTN_ERR FNTYPE NMC_ToolCalib_4pWithOri	(	const Pos_T *	PMcsKinP1,
		const Pos_T *	PMcsKinP2,
		const Pos_T *	PMcsKinP3,
		const Pos_T *	PMcsKinP4,
		const Pos_T *	PMcsKinMinusZAxisPt,
		const Pos_T *	PMcsKinYZPlanPt,
		CoordTrans_T *	PRetToolCoordTrans,
		F64_T *	PRetTolerance
	)

Tool calibration - TCP translation with orientation setting method.

Parameters

	PMcsKinP1	The first step position, TCP must (as far as possible) fall in the reference position
	PMcsKinP2	The second step position, TCP must (as far as possible) fall in the reference position
	PMcsKinP3	The third step position, TCP must (as far as possible) fall in the reference position
	PMcsKinP4	The forth step position, TCP must (as far as possible) fall in the reference position
	PMcsKinMinusZAxisPt	The fifth step position, reference position must fall in negative direction of Z axis of TCP
	PMcsKinYZPlanPt	The sixth step position, reference position must fall in positive direction of Y axis of TCP
[out]	PRetToolCoordTrans	Return setting of Tool coordinate convertion
[out]	PRetTolerance	Return tolerance

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

Reference:
None.

RTN_ERR FNTYPE NMC_ToolCalib_4pWithZ	(	const Pos_T *	PMcsKinP1,
		const Pos_T *	PMcsKinP2,
		const Pos_T *	PMcsKinP3,
		const Pos_T *	PMcsKinP4ZDir,
		CoordTrans_T *	PRetToolCoordTrans,
		F64_T *	PRetTolerance
	)

Tool calibration - TCP translation with Z-direction setting method.

Parameters

	PMcsKinP1	The first step position, TCP must (as far as possible) fall in the reference position
	PMcsKinP2	The second step position, TCP must (as far as possible) fall in the reference position
	PMcsKinP3	The third step position, TCP must (as far as possible) fall in the reference position
	PMcsKinP4ZDir	The fourth step position, the positive direction of Z axis of TCP needs to indicate negative direction of Z axis of MCS
[out]	PRetToolCoordTrans	Return setting of Tool coordinate convertion
[out]	PRetTolerance	Return tolerance

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

Reference:
None.

RTN_ERR FNTYPE NMC_ToolCalib_Ori	(	const Pos_T *	PMcsKinOrg,
		const Pos_T *	PMcsKinMinusZAxisPt,
		const Pos_T *	PMcsKinYZPt,
		CoordTrans_T *	PRetToolCoordTrans
	)

Tool calibration - Orientation setting method.

Parameters

	PMcsKinOrg	The first step position, TCP must (as far as possible) fall in the reference position
	PMcsKinMinusZAxisPt	The second step position, reference position must fall in negative direction of Z axis of TCP
	PMcsKinYZPt	The third step position, reference position must fall in positive direction of Y axis of TCP
[out]	PRetToolCoordTrans	Return setting of Tool coordinate convertion(Only modified the orientation transformation paramter)

Returns

Return an error code.
If the function is called successfully, the return value is ERR_NEXMOTION_SUCCESS (0). Otherwise, the return value is an error code. All error codes are defined in the header file, NexMotionError.h.

Usage:

Examples:

Reference:
None.