AreaCorrectionSet Statement

Sets and displays the correction area.

Syntax
(1) AreaCorrectionSet AreaNum, refPointList, taughtPointList, Kind
(2) AreaCorrectionSet AreaNum
(3) AreaCorrectionSet

Parameters

AreaNum

Specify the area number (integer from 1 to 8) as an expression or numerical value.

refPointList

Specify sequential numbers for point data you wish to use as reference points, where two point numbers for the starting and ending points are joined by a colon, such as P(1:4).
To maximize the effect of the correction, select reference points that surround the point to be corrected.

taughtPointList

Specify taught point data corresponding to a refPointList such as P(1:4), where two point numbers for the starting and ending points are joined by a colon. The order of the point data should be set to correspond to the refPointList.

Kind

Integer value indicating the type of correction.
Plane correction allows you to make corrections to points on a plane composed of the points you have selected as reference points. If plane correction is selected, place the refPointList on a plane. A minimum of three reference points is required.
Space correction allows you to make corrections to points in three-dimensional space composed of the points you have selected as reference points. When selecting 3D correction, make sure that the refPointList surround the area to be corrected. A minimum of four reference points is required.

Kind	Constant	Value
Plane	MODE_PLANE	2
Space	MODE_SPACE	3

Return Values

When specified in syntax (1), the correction area is set with the specified area number.
When specified in syntax (2), the content of the specified area number is displayed.
When specified in syntax (3), the entire content of the defined correction area is displayed.

Description
Sets the correction area to be used by the area correction function. By setting the correction area and using the AreaCorrection function, AreaCorrectionInv function, and AreaCorrectionOffset function, you can improve the positioning accuracy of points within the correction area.

This instruction cannot be executed during operation. Use in a stopped state.

For information on how to select the reference position, see the following manual:
"Epson RC+ User's Guide, Area Distortion Correction Function"

Notes

About Correction Area Data

The correction area remains in effect until the controller is turned off. When the controller is started, the correction area is not defined.
About the Tool

When performing corrections using the AreaCorrection function, use the same tool that was used when teaching the reference points for the correction area. Using different tools may reduce the correction effect.
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 a reference point can be established in the height direction, 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. For the reference point, set the same orientation flag as the point at which the operation is to be performed.
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
AreaCorrectionClr, AreaCorrectionDef Function, AreaCorrectionInv, AreaCorrectionOffset Function, DiffToolOrientation Function

AreaCorrectionSet Statement Example
An example of use is shown below. Use the taught points for P11 to P14.

If P1 to P4 are the positions of the reference points on the drawing as shown below, the correction area will be a square 200 mm wide with P1, P2, P3, and P4 as its vertices.

Function AreaCorrectionTest
  ' 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
Fend

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