Frame - Mitsubishi CR750-Q Series Instruction Manual

9. Frame

The frame is a coordinate system in CAD space. The frame is used for the following usage.
* Because the usage was expanded, the name has been changed to "Frame" though the name of this chapter was
"Calibration" even in Ver.3.3.
(1) CAD space and a real space the position are matched at the calibration.
The frame of a real space corresponding to the frame made on MELFA-Work is taught with the robot.
MELFA-Works is corrected by using the difference of these two frames.
※Only multi-point data can be calibrated. Teaching points cannot be calibrated.
(2) A relative position of the off-line teaching result is output.
MELFA-Works is output at a relative position from the frame that specifies the off-line teaching point.
The tasks involved in calibration on the personal computer side are categorized into tasks related to
MELFA-Works main body and tasks related to the calibration tool (Integrates RT ToolBox2) as follows.
MELFA-Works main body  Data creation for calibration
Calibration tool
This chapter explains how to create data for calibration to be used by the calibration tool. The calibration tool
is explained in "Chapter 17 How to Use the Calibration Tool".
Item
Frame name
Up/Down
Add
Del
Get Pos
Move to
 Calibration using the data
Fig. 9-1 Calibration Dialog Box
Table 9-1 Details of Operations in the Dialog Box
Displays a list of frames that have been created.
The items displayed are calibration No. and frame name.
Double-click an item in the list to display the frame name input dialog box, and
change the corresponding frame name.
Click these buttons to change the position of the frame data selected in the
frame name list up/down.
Adds new calibration data. Frame name is automatically attached when frame
data is added. It is added prior to the selected line if frame was selected or
added at the end if not selected. The attached name can be changed.
Deletes frame data selected in the frame name list.
Acquires the coordinates of the point indicated by the robot hand and stores
them as the specified point (PO/PX/PY) of the selected frame data.
Moves the robot to the posture where the robot hand indicates the specified
point (PO/PX/PY) of the selected frame data.
Explanation
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