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8.3 Tool Data Setting

8-22

 Setting the Tool Load Information

The tool load information includes weight, a center of gravity position, and moment of inertia at

the center of gravity of the tool installed at the flange.

8.3.2 Tool Calibration

 Tool Calibration

To ensure that the manipulator can perform motion type operations such as linear and circular

motion type correctly, accurate dimensional information on tools such as torches, tools, and

guns must be registered and the position of the TCP must be defined. Tool calibration is a

function that enables this dimensional information to be registered easily and accurately.

When this function is used, the TCP is automatically calculated and registered in the tool file.

What is registered in tool calibration is the coordinates of the TCP in the flange coordinates.

 Teaching

In order to perform tool calibration, five different angle (TC1 to 5) must be taught with the TCP

as the reference point. The tool dimensions are automatically calculated on the basis of these

five points.

Each angle must be arbitrary. Accuracy may decrease when pose setting is rotated in a con-

stant direction.

For more details on the tool load information, refer to "8.4.3 Tool Load Information Setting".

SUPPLE

-MENT

Flange

coordinates

XF: Vertically upward direction when the current

position on the T-axis of the manipulator is "0"

YF: Y-axis complementing XF and ZF

ZF: Direction perpendicular to the flange face

Tool

coordinates

TCP

TC1

TC2

TC3

TC4

TC5

YASKAWA NX100 Instructions

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