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182582-1CD
182582-1CD
8 System Setup
8.3 Tool Data Setting
MH900, DX200 Controller
8.3.2.3 Teaching of Calibration Point
Teaching for defining coordinates
In order to calibrate coordinates, five different postures (TC1 to 5) must be
taught with the TCP as the reference point. The tool dimensions are
automatically calculated on the basis of these five points.
Each posture must be arbitrary. Accuracy may decrease when pose
setting is rotated in a constant direction
Teaching for defining posture
The calibration of tool posture data is performed with the first calibration
teaching point (TC1).
Teach TC1 with Z-axis of the desired tool coordinates downward vertically
to the ground. (the Z-axis of the tool coordinates is parallel to the Z-axis of
the base tool and points to the opposite direction.)
Tool posture data is automatically calculated with this TC1 posture.
The X-axis of the tool coordinates is defined in the same direction as the
X-axis of the base coordinates.
TCP
TC1
TC2
TC3
TC4
TC5
X
T
Y
T
Z
T
X
Y
Z
TCP
TOOL
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