ID : 7281

AutoCal

Function

To execute CALSET automatically at the startup.

This command is available in Ver.2.6.* or higher.

Syntax

AutoCal

Description

To execute CALSET automatically at the startup. This command performs the same operation as when the [Move to CALSET position] button and the [Execute CALSET] button (both buttons are displayed in TP App) are pressed in this order.

This command can be executed only in the supervisory task.

If this command is executed after the motion preparation is completed, an error may occur (For details, refer to "Execution Timing of Method by I/O Command or Robot Program"). In that case, this command should be executed before the motion preparation.

Attention

If COBOTTA software version is lower than 2.9.0, when this command is executed in Simulation Function, nothing is executed and the program moves to the next line.

Example

In the following example, CALSET at the start-up and the motion preparation are executed in the supervisory task.

Sub Main
  'Execute the following commands in the supervisory task.
  'Sequence program at the startup
  
  'Execute AutoCal command
  AutoCal
  
  'Execute a motion preparation command
  MotionPreparation

End Sub