YASKAWA Motoman UP6 Instructions Manual page 196

3.9 Tool Data Setting
*4
The selection dialog is displayed. Select the teaching point for calibration.
*5
Taught position is registered.
Repeat *4~*5 operation to teach TC1 to TC5.
' indicates that teaching is completed and * indicates that it is not completed.
To check the taught positions, call up the required display among TC1 to TC5 and
press [FWD]. The manipulator moves to the set position.
If there is a difference between the current position of the manipulator and the dis-
played position data, "TC!" next to "POSITION" in the display flashes.
*6
Calibration data is registered in the tool file. Once calibration is completed, the tool
coordinate display is shown.
D A T A E D I T D I S P L A Y
T O O L C A L I B R A T I O N
TOOL NO. : 00
**:S * <STATUS>
L *
R 1 : R O B O T 1
R 1 : R O B O T 1
U *
R 2 : R O B O T 2
R *
B *
T *
C O M P L E T E
!
D A T A
E D I T D I S P L A Y
T O O L C A L I B R A T I O N
TOOL NO. : 00 POSITION :
R1:S *
L *
T C 1
T C 1
U *
T C 2
R *
T C 3
B *
T C 4
T *
C O M P L E T E
!
D A T A
E D I T D I S P L A Y
T O O L C A L I B R A T I O N
TOOL NO. : 00 POSITION :
R1:S 0
L 10
U 1000
R 53
B 200
T 8
C O M P L E T E
!
3-38
U T I L I T Y
L
R1 C S
POSITION : T C 1
TC1
TC2
TC3
TC4
TC5
C A N C E L
U T I L I T Y
L
R1 C S
T C 1
<STATUS>
TC1
TC2
TC3
TC4
TC5
C A N C E L
U T I L I T Y
L
R1 C S
T C 4
<STATUS>
TC1
TC2
TC3
TC4
TC5
C A N C E L