Sphere centre points already calculated
If the sphere centre points are already known, as shown in the example if a measurement was executed using measuring equipment from third-party providers, they can be used directly for calculation.
Programming Example
Entering sphere centre points for various poses
Initialisation: Number of poses, e.g. number of A,B combinations
#VAR
V.L.KIN_TYP = 80 (kinematic measured)
V.L.KIN_VARIANT = 0 (variant of kinematic measured)
V.L.NUMBER_OF_POSES = 8 (number of measurement poses)
#ENDVAR
L CYCLE [NAME = "SysCalibFitInit.ecy" \
@P1 = V.L.KIN_TYP \
@P2 = V.L.KIN_VARIANT \
@P3 = V.L.NUMBER_OF_POSES \
]
; Call cycle to add new measurement data
L CYCLE [NAME = "SysCalibFitAddRecord.ecy" \
@P1 = 102.545449 \ (X coordinate of centre point)
@P2 = 258.949268 \ (Y coordinate of centre point)
@P3 = 125.6186118 \ (Z coordinate of centre point)
@P4 = 20 \ (associated A coordinate)
@P5 = 0 \ (associated B coordinate)
@P6 = 0 \ (associated C coordinate)
]
; ... Executing input for all poses
; Call fitting cycle
#VAR
V.P.MAX_PRECISION = 0.06 (precision)
V.P.LIST_FORMAT = 1 (list format for result)
#ENDVAR
; Call fitting cycle
L CYCLE [NAME = "SysCalibFit.ecy" \
@P1 = V.P.LIST_FORMAT \
@P2 = V.P.MAX_PRECISION \
]
; Call to end cycle
L CYCLE [NAME = "SysCalibFitFinalize.ecy"]