9.9 Tool Data Setting
9-38
9.9.2 Tool Calibration
Tool Calibration
To ensure that the manipulator can perform motion type operations such as linear and circular
motion type correctly, accurate dimensional information on tools such as torches, tools, and
guns must be registered and the position of the TCP must be defined. Tool calibration is a
function that enables this dimensional information to be registered easily and accurately.
When this function is used, the TCP is automatically calculated and registered in the tool file.
What is registered in tool calibration is the coordinates of the TCP in the flange coordinates.
Teaching
In order to perform tool calibration, five different angle (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 angle must be arbitrary. Accuracy may decrease when pose setting is rotated in a con-
stant direction.
There are 24 tool files numbered 0 to 23. 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 multihand, use the tool numbers in the order 0, 1, 2, .... etc.
Tool pose data is not registered in tool calibration. For details on how to register pose data,
refer to " Registering Tool Angle" of "9.9.1 Registering Tool Files."
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
TCP
TC1
TC2
TC3
TC4
TC5
SUPPLE
-MENT
SUPPLE
-MENT
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