System Setup
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9.3.5 Tool calibration
To ensure that the robot can execute movements such as linear and circular movements
correctly, the exact dimensions of tool such as welding torches and welding guns must be
registered. In addition, the position of the TCP must be set.
The tool calibration permits these dimensions to be registered easily and precisely. If this
function is used, the TCP is calculated automatically and registered in the tool file.
In the tool calibration, the coordinates of the TCP and the tool position data are registered
in the flange coordinates.
<Flange coordinates>
XF: Vertically upward when the current position of the robot's T-axis is 0.
YF: Y-axis, which completes XF and ZF
ZF: Vertically to the flange face
9.3.5.1 Setting of tool calibration method
Three tool calibration methods can be selected by means of parameter settings.
S2C432: Name of the tool calibration method:
0: Calibrates only the coordinates.
The coordinates calculated from five calibration teach points are registered in the tool file.
In this case, all tool position data is set to 0.
1: Only the position is calibrated.
The tool position data calculated from the first calibration point is registered in the tool file.
The coordinates remain unchanged in this case (the previous value is retained).
2: The coordinates and position are calibrated.
The coordinates calculated from five calibration teach points and the tool position data
calculated from the first calibration point are registered in the tool file.
NOTICE
If S2C432 = 0 (only the coordinates are calibrated), the tool position data is set to 0. If
the coordinates calculated from the tool calibration are registered in the tool file in which
the tool position data is already registered, the tool position data is deleted.
If S2C432 = 1 (only the position is calibrated), the coordinates are retained.
If S2C432 = 1, five teach points have to be registered although only the first point is
used for the calculation.
Tool coordinates Flange coordinates
XF
YF
ZF
XT
YT
ZT
2
1
1
2
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