AreaCorrection Function

Returns point at which correction was made using correction area

Syntax
AreaCorrection(Point, AreaNum)

Parameters

Point: Specify the point data to be corrected.
AreaNum: Specify the area number (integer from 1 to 8) as an expression or numerical value.

Description
Points resulting from a correction are returned based on the predefined correction area. These are coordinates defined in the same local coordinate system as the points before correction. This function can be used with a motion command (such as Go or Jump command) to move the robot to a specified position. This command improves the positional accuracy of the specified point. In the point expression, enter the position on the drawing.

The correction is applied only to the position. No correction is applied for additional axes, UVW coordinate values, or orientation flags. The input point data values are output as is.

Specifying a correction area that has not been set will result in an error.

Notes

Taught points

Do not apply the AreaCorrection function to taught point data. A correction is made for the aligned teaching position, resulting in misalignment.
When far from the correction area

When the area is far from the correction area set in AreaCorrectionSet, the effect of the correction is reduced. Set reference points such that the correction area surrounds the operating point.

When plane is selected for Kind (the type of correction), the effect of the correction is reduced at points vertically distant from the plane selected for the correction area. Set the correction area at an appropriate height or, if reference points can be established, specify space for Kind (the type of correction).
When different from the orientation flag used to set the correction area

When the orientation flags and reference points set up with AreaCorrectionSet differ, an error occurs.
When different from the orientation (U, V, W) used to set the correction area

Corrections can be made for SCARA robots (including RS series).

Vertical 6-axis robots (including N series) can be corrected if the tool coordinate system's Z-axis at the point before correction matches the tool coordinate system's Z-axis at the reference point of the correction area. If there is no match, the correction is not applicable and an error occurs. The angle of the tool coordinate system's Z axis can be acquired by specifying COORD_Z_PLUS as the axis number for the DiffToolOrientation function.

See Also
AreaCorrectionSet, AreaCorrectionClr, AreaCorrectionDef Function, AreaCorrectionInv, AreaCorrectionOffset Function, DiffToolOrientation Function

AreaCorrection Statement Example

Function sample
    ' P(1:4) Reference point
    P1 = XY(-100, 200, -20, 0)
    P2 = XY(100, 200, -20, 0)
    P3 = XY(-100, 400, -20, 0)
    P4 = XY(100, 400, -20, 0)
   ' P(11:14) Actually use the point where P(1:4) was taught
   P11 = XY(-100, 200.5, -20, 0)
    P12 = XY(100.3, 200.1, -20, 0)
    P13 = XY(-100.4, 400.8, -20, 0)
    P14 = XY(100.2, 400.4, -20, 0)
    ' Set correction area
   AreaCorrectionSet 1, P(1:4), P(11:14), MODE_PLANE
   P999 = AreaCorrection(P1, 1)  ' P999 is a corrected point
   Print Dist(P11, P999)
   P999 = AreaCorrection(XY(0, 300, -20, 0), 1) ' Correct points in area
   Print P999
Fend

[Output]

0
 X:    0.100 Y:  300.450 Z:  -20.000 U:    0.000 /R /0

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