8 System Setup
8.3 Tool Data Setting
8-25
182582-1CD
182582-1CD
MH900, DX200 Controller
What is registered in tool calibration is the coordinates of the TCP and the
tool posture data in the flange coordinates.
8.3.2.2 Setting of Tool Calibration Method
There are three tool calibration methods, which are selected by setting
parameter.
S2C432: Designation of tool calibration method
0: Calibrates only the coordinates.
“Coordinates” calculated from 5 calibration teaching points is
registered in the tool file.
In this case “Tool Posture Data” is all cleared to be 0.
1: Calibrates only the posture.
“Tool Posture Data” calculated from the first calibration
teaching point is registered in the tool file.
In this case, “Coordinates” will not be changed. (the prior
value is maintained.)
2: Calibrates the coordinates and the posture.
“Coordinates” calculated from 5 calibration teaching points
and “Tool Posture Data” calculated from the first calibration
teaching point are registered in the tool file.
Flange
coordinates
XF
YF
ZF
XT
YT
ZT
<Flange coordinates>
XF: Vertically upward direction when the current
position on the T-axis of the manipulator is "0"
YF: Y-axis complementing XF and ZF
ZF: Direction perpendicular to the flange face
Tool
coordinates
• In case of S2C432=0 (only coordinates is calibrated),
tool posture data is overwritten with 0.
(When the coordinates calculated from tool calibration is
registered in the tool file in which the tool posture data is
already registered, the tool posture data will be deleted.)
• In case of S2C432=1 (only posture is calibrated), the
coordinates are maintained.
• In case of S2C432=1, 5 teaching points need to be
registered though only the first point is used for
calculation.
To Next Page
Loading...
