YASKAWA DX200 - Page 119

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8 System Setup
8.3 Tool Data Setting
MH900, DX200 Controller
8.3.2.5 Checking the TCP
After registering the tool file, check if the TCP is correctly registered by
performing a TCP fixed operation like the one shown below, in any
coordinate system other than the joint.
1. Press [COORD].
– Select any coordinate system except “ JOINT” by pressing
[COORD].
2. Select desired tool number.
–Show the tool coordinate window of the desired tool by pressing the
[PAGE] or selecting it in the tool list window.
3. Move the R, B, or T axes using the axis key.
• If tool angle data is required, input the data number in
the tool coordinate window.
Refer to section 8.3.1.3 “Registering Tool Angle" on page 8-
22 for the operating instructions.
Tool center
point
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