6 Robot Settings
6.1 Tool Settings
6-14
HW1485509
HW1485509
TCP Calibration Procedure
Three steps are required to successfully calibrate the Tool Center Point:
1. Selection of desired {Calibration Method}
2. Move to and {Set} Robot postures required to calibrate the TCP
3. Calculate, send, and save tool frame data on {Tools} screen
Detailed instructions to complete this procedure is provided in the
following sections.
Selection of Desired Calibration Method
The user can select from one of three methods on the {TCP Calibration}
screen:
• TCP (X, Y, Z): Calibrates TCP’s XYZ coordinates only,
recommended for most users
“TCP Coordinates” are calculated from five postures (1 to 5) set by
the user. In this case, Tool Orientation will not be changed (previous
values are maintained).
• Orientation (Rx, Ry, Rz): Calibrates tool orientation only
Tool “Orientation” is calculated using a single posture (1) set by the
user. In this case, TCP XYZ coordinates will not be changed
(previous values are maintained).
• TCP + Orientation: Calibrates both the TCP's XYZ coordinates and
tool orientation
“Orientation” is calculated from the first recorded posture (1) and
“Coordinates” are calculated using all five recorded postures (1 to 5)
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