YASKAWA DX200 - Page 114

8 System Setup
8.3 Tool Data Setting
8-27
182582-1CD
182582-1CD
MH900, DX200 Controller
1. Select {ROBOT} under the main menu.
2. Select {TOOL}.
3. Select the desired tool number.
In case of calibrating with S2C432=2, teach TC1 with Z-axis
of the desired tool coordinates downward vertically to the
ground. Then teach the other calibration teaching points
(TC2~TC5) with the all tool points meet at the TC1’s tool
point as shown in the figure below.
If teaching in one place as the figure above is impossible
due to the interference of peripheral equipment and so on,
perform calibration of coordinates with S2C432=0 or 2, and
then change to S2C432=1, teach only TC1 in a different
position and register the tool posture data.
• There are 64 tool files numbered 0 to 63.
• In a basic system with one manipulator and one tool,
the tool file for tool No.0 is used.
If there is more than one tool, for example when using a
multi-hand, use the tool numbers in the order of 0, 1, 2, etc.
TC1
TC2
TC3
TC4
TC5
TC1
TC2
TC3
TC4
TC5
[S2C432 = 0 or 2 ]
TC1
[S2C432 = 1 ]
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