System Setup
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9.3.5.2 Teaching of calibration point
Defining coordinates
To calibrate the coordinates, five different positions (TC1 to 5) have to be taught with the
TCP as the reference point. The tool dimensions are calculated automatically on the basis
of these five points.
Every position must be arbitrary. Accuracy can decrease if the position is rotated constantly
in one direction.
Defining a position
The calibration of the tool position is carried out with the first calibration teach point (TC1).
Teach TC1 with the Z-axis of the desired tool coordinates vertically downwards in the
direction of the floor (the axis of the tool coordinates is parallel to the Y-axis of the base tool
and points in the opposite direction). The tool position data is calculated automatically with
this TC1 position.
The X-axis of the tool coordinates is defined in the same direction as the X-axis of the base
coordinates.
Tool TCP
TCP
TC1
TC2
TC3
TC4
TC5
X
T
Y
T
Z
T
X
Y
Z
1
2
1
2
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