System Setup
9 - 98
In calibration with S2C432=2, teach TC1 with the Z-axis of the desired tool coordinates
vertically downwards in the direction of the floor. Then teach the other calibration teach
points (TC2~TC5) with all tool points in the tool point of TC1 (see the figure below).
If teaching is not possible at any point due to the peripheral devices, etc. (see the figure
above), calibrate the coordinates at S2C432 = 0 or 2 and then set S2C432 = 1.
Teach only TC1 in a different position and register the tool position data.
NOTICE
There are 64 tool files that are 0 to 63 numbered.
In a basic system with a robot and a tool, the tool file is used for the tool number 0.
If there are multiple tools (e.g. a multihand), use the tool numbers in the sequence 0,
1, 2, etc.
1. Select {ROBOT} from the main menu.
2. Select {TOOL}.
3. Select the desired tool number.
– As shown in instructions 2 and 3 in section 9.3.2 "Registering coordinate data" on page
90 the desired TOOL COORDINATE window appears.
TC1
TC2
TC3
TC4
TC5
TC1
TC2
TC3
TC4
TC5
[S2C432 = 0 or 2 ]
TC1
[S2C432 = 1 ]
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