6 Robot Settings
6.1 Tool Settings
6-17
HW1485509
HW1485509
Verification of Calculated TCP
Jog the Robot in XYZ-Tool mode to rotate the installed tool about the
reference point used for the calibration procedure. The TCP should rotate
nicely around the fine point. If the rotation motions are offset and appear
to be rotating around another point, the calibration procedure should be
repeated to increase accuracy.
6.1.5 Setting Tool with FSU
A final step is required in the tool setting process when the Functional
Safety Unit (FSU) and/or Power and Force Limit (PFL) function is enabled
on the YRC Controller. To ensure tool setup has been performed
according to safety regulations, the data must be checked to ensure that
the information in the YRC Controller matches that on the FSU/PFL safety
boards.
1. Edit the tool data
– {READBACK} will appear, to allow the operator to read data from
both the YRC Controller and the FSU/PFL safety boards.
To Next Page
Loading...
