YASKAWA Motoman UP6 Instructions Manual page 195

Tool pose data is not registered in tool calibration. For details on how to register pose data,
S U P P L E -
refer to the preceding clause " Registering Tool Pose ".
M E N T
Operation
Select {ROBOT} under the top menu
*1
number Select {UTILITY} under the menu
*2
Select the robot
Press [MODIFY]
Explanation
*1
In the same way shown in Explanation *1,*2 in " Registering Coordinate Data ", the
desired tool coordinate display is shown.
*2
The tool calibration setting display is shown.
*3
Select the robot to calibrate. (When the robot has already been selected or there is only
one of robot, this operation should not be performed.) Select "**" in the tool calibration
setting display and select the robot in the displayed selection dialog.
Select {TOOL}
*4
Select "POSITION"
Press [MODIFY] and [ENTER]
D A T A
EDIT
T O O L
TOOL NO. : 00
NAME :TORCH1
X 0.000 mm
Y 0.000 mm
Z 0.000 mm
W 0.000 kg
Xg 0.000 mm
!
D A T A EDIT
TOOL CALIBRATION
TOOL NO. : 00
**:S *
L *
U *
R *
B *
T *
!
3-37
Select the desired tool
Select {CALIBRATION}
Move the manipulator using the axis key
*5
DISPLAY UTILITY
L
R1
C S
Rx 0.00 deg.
Ry 0.00 deg.
Rz 0.00 deg.
DISPLAY UTILITY
L
R1
C S
POSITION : T C 1
<STATUS>
TC1
TC2
TC3
TC4
TC5
C O M P L E T E
C A N C E L
3.9 Tool Data Setting
*2
Select "COMPLETE"
*6