# 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.

## Programing 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"]