; comment

O

The ; character is used as the beginning of the comment, everything that follows is not parsed

PLANAR_COMP_TABLE name

name: unique name of the table

M

Command to open the data block defining the compensation table

AX_N axN

axN: axis number used as the X axis

M

Locates the first plane axis (X) or reference axis for the linear table

AX_Y axN

axN: axis number used as the Y axis

O

If present the table is planar, if omitted the table is linear

AX_Z axN

axN: axis number used as Z axis

O

If present the third offset is also handled (whether the table is planar or linear)

AX_FLAGS flags

flags:

•Bit 0 (0x1) enables compensation on X axis

•Bit 1 (0x2) enables compensation on Y axis

•Bit 2 (0x4) enable compensation on Z axis

•Bit 3 (0x8) free

•Bit 4 (0x10) enables zeroing of corrections outside the table. Zeroing occurs in one STEP

•Bit 5 (0x20) enables point indexes from 1 instead of 0

M

PCT management flag

PCT_FN "fileName"

fileName : full filename between ""

M

Specifies the name of the file that contains the definitions of the clearing table

PCT_FTYPE code

code : file type code

•1 "IPRobot - PosRilevata" - ASCII

O

Specifies the file type. If omitted, the value 1 (currently the only one handled) is assumed.

CLOSE_PLANAR_COMP_TABLE

-

M

Command to terminate the data block defining the clearing table.

; comment

O

The ; character is used as the start of the comment, everything that follows is not parsed

BASE_X pos

pos : minimum value of X axis

M

minor coordinate of X in the plane (planar offset) or segment (linear offset)

BASE_Y pos

pos : minimum value of Y axis

M if planar

O if linear

coordinate less than Y in the plane (planar offset).

NOTE: If present but using the file as a linear table, a warning is generated in report.

ELEM_NUM_X number

number : number of points along X axis

M

defines the number of points along the X axis defined by the table.

ELEM_NUM_Y number

number : number of points along Y axis

M

defines the number of points along the Y axis defined by the table.

NOTE: If present but using the file as a linear table, a warning is generated in report.

STEP_X value

value : step value between points along X axis.

M

value of the step value between the points along X axis. The value can only be greater than 0.

STEP_Y value

value : value of the step between points along Y axis.

M

value of the step value occurring between points along Y axis. The value can only be greater than 0.

NOTE: If present but using the file as a linear table, a warning is generated in report.

TABLE

-

M

start of data zone

ix iy cx cy cz

data point:

•ix index of x of point

•iy index of y of the point

•cx correction of X

•cy correction of Y

•cz correction of Z

M

definition of single point corrections.

indices MUST be consecutive and ordered with X and then Y increasing.

indexes start at 0 if no flag is present to start at 1

The index iY must also be present in the case of a linear table and in this case MUST always be 0.

The offset values to the right of the last offset used can be omitted. Those on the left, even if not active must be present (typically set to 0).

Corrections are understood as CORR = Ideal control position - real position detected

END_TABLE

-

M

end of data zone