6 Robot Settings
6.1 Tool Settings
6-15
HW1485509
HW1485509
Set and Move To Calibration Postures
YASKAWA recommends setting the five calibration postures in the
following configuration for the best results. The easiest jogging mode to
start with is XYZ-World while XYZ-Tool mode can be used to refine and
verify the resulting TCP.
Fig. 6-16: Calibration Postures
The greater the difference between the five postures, the better. No two
recorded postures can match and calibration accuracy will decrease if
multiple poses are similar or rotated in a constant direction. Repeating
this procedure multiple times may increase the accuracy of the resulting
TCP.
If the selected calibration method includes tool orientation,
the first posture recorded will determine the resulting
orientation. Set this posture with Z-axis of the desired tool
coordinates downward vertically to the ground (parallel the
Z-axis of the Manipulator's base frame). The resulting
X-axis of the tool coordinates will be registered in the same
direction as the X-axis of the base coordinates.
To Next Page
Loading...
