System Setup
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9.3.5.4 Checking the TCP
Once you have registered the tool file, check whether the TCP has been registered
correctly.
Carry out a TCP-related operating step (see the description below) in one of the coordinate
systems. However, do not use the joint coordinate system.
1. Press [COORD].
Select any coordinate system but not " JOINT". Press [COORD].
2. Select the desired tool number.
Open the tool coordinate window of the tool by pressing the page button or selecting
the tool in the tool list window.
3. Move the R-, B- or T-axis with the axis button.
Change the robot position without changing the TCP position by pressing the axis
buttons for the R-, B- and T-axes.
If a serious TCP error is indicated here, set the tool data again.
NOTICE
For details on the TCP fixed operation, refer to “OPERATOR'S MANUAL in chapter „Control
Point Operation”.
Tool center point
1
1
TCP
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