Nachi EZ-CFDL Series - Page 21

3.5 Tool constant settings
Setting the tool length
automatically
Although
one
program
for
calculating
the
tool
length
must
be
taught,
the
tool
length
can
then
be
set
automatically simply by taking this
preparatory step.
It does not matter whether the tool angle has already been set or not.
1
First, the programs for setting the tool
length automatically must be taught.
Teach the kind of programs where the tip of
the installed tool (install a tool with
a sharp tip here as well) is aimed in a number of different postures at a sharp
tip which has been secured to the ground. The required number of steps is at
least 10.
Sharp tip fixed on
the ground
Tool tip
Ensure that the posture of the robot varies significantly with each of the steps, and
that its aim is as
accurate as possible. This holds the key for
ensuring a high
accuracy.
Record all the steps with linear interpolation ON. (Although it has nothing to do with
calculating the tool length,
this comes in handy in when
checking the results in
7
.)
2
On the tool constant setting screen
for the desired tool number, press the
<Easy Setting> key.
>>The tool length automatic setting screen such as
the one shown below now
appears.
3
If any other screen has appeared, press the <Length Set> key.
＋
4
Select the setting type. Select "Axis Constants & Length" or "Length only"
using the [ENABLE] and
[Left/right cursor] keys.
Normally, "Length only" is
selected.
Select "Axis Constants & Length" only when more accurate length setting is required.
In this case, the axis constants of J2, J3, J4 and J5 axes are
corrected automatically
.
(The axis constants of all the
other axes remain unaffected.)
(The axis to be
compensated differs depending on the mechanism type.)
5
Align the cursor with the
program No., input the program No. (such
as
1
) that
was created previously in
1
, and press the [Enter] key.
6
Press the <Execute> key.