Tool Calibration; Setting Of Tool Calibration Method - YASKAWA DX100 Instructions Manual

DX100

8.3.2 Tool Calibration

8.3.2.1 Tool Calibration

8.3.2.2 Setting of Tool Calibration Method

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8 System Setup
8.3 Tool Data Setting
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 and the
tool posture data in the flange coordinates.
XF
Flange
coordinates
YT
YF
Tool
coordinates
There are three tool calibration methods, which are selected by setting
parameter.
S2C432: Designation of tool calibration method
0: Calibrates only the coordinates.
"Coordinates" calculated from 5 calibration teaching points is
registered in the tool file.
In this case "Tool Posture Data" is all cleared to be 0.00.
1: Calibrates only the posture.
"Tool Posture Data" calculated from the first calibration
teaching point is registered in the tool file.
In this case, "Coodinates" will not be changed. (the prior
value is maintained.)
2: Calibrates the coordinates and the posture.
"Coordinates" calculated from 5 calibration teaching points
and "Tool Posture Data" calculated from the first calibration
teaching point are registered in the tool file.
8-23
<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
ZF
XT
ZT