6 Robot Settings
6.1 Tool Settings
6-12
HW1485509
HW1485509
6.1.4.3 Tool Center Point (TCP) Calibration
To ensure a Robot can properly perform linear and circular motions, the
TCP introduced above must be fully defined. In the absence of known tool
frame properties, TCP Calibration is an operation that accurately
calculates this data through a series of recorded postures. This procedure
can calculate the TCP's XYZ coordinates and/or orientation data in the
flange coordinates.
Fig. 6-14: TCP's XYZ Coordinates and/or Orientation Data in the Flange
Coordinates
To calibrate the TCP's XYZ coordinates, five different postures must be
registered about a reference point with a fine tip (example shown in red in
fig. 6-15). YASKAWA recommends aligning the first posture of the tool
with the center of the reference point and then rotating the tool around it
with significant angle to define the remaining four postures. See fig. 6-16
“Calibration Postures” for detail on these postures.
Fig. 6-15: Reference Point with a Fine Tip
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