YASKAWA Motoman UP6 - Page 195

3.9 Tool Data Setting
3-37
*1
In the same way shown in Explanation *1,*2 in " Registering Coordinate Data ", the
desired tool coordinate display is shown.
*2
The tool calibration setting display is shown.
*3
Select the robot to calibrate. (When the robot has already been selected or there is only
one of robot, this operation should not be performed.) Select “**” in the tool calibration
setting display and select the robot in the displayed selection dialog.
Tool pose data is not registered in tool calibration. For details on how to register pose data,
refer to the preceding clause " Registering Tool Pose ".
Select {ROBOT} under the top menu Select {TOOL} Select the desired tool
number
*1
Select {UTILITY} under the menu Select {CALIBRATION}
*2
Select the robot
*2
Select “POSITION”
*4
Move the manipulator using the axis key
Press [MODIFY] Press [MODIFY] and [ENTER]
*5
Select “COMPLETE”
*6
SUPPLE-
MENT
Operation
Explanation
TOOL
TOOL NO. : 00
NAME :TORCH1
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 0.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 0.000 mm
!
R1
S
C
L
DATA
EDIT DISPLAY UTILITY
TOOL CALIBRATION
TOOL NO. : 00 POSITION : TC1
**:S * <STATUS>
L * TC1
U * TC2
R * TC3
B * TC4
T * TC5
!
CANCEL
DATA
EDIT DISPLAY UTILITY
COMPLETE
R1
S
C
L