YASKAWA Motoman UP6 Instructions Manual page 197

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Clearing Calibration Data
Before the calibration of a new tool, clear the robot information and calibration data.
Operation
Select {DATA} under the menu
Explanation
*1
The confirmation dialog is shown.
*2
All data is cleared.
Only tool coordinate data are calculated using tool calibration. If tool pose data is required,
N OT E
input the data number in the tool coordinate display.
Refer to " Registering Tool Pose " for the operation.
D A T A
E D I T D I S P L A Y
T O O L
TOOL NO. : 0 0
N A M E : T O R C H 1
X 0.000 mm Rx
Y 0.000 mm Ry
Z 300.000 mm Rz
W 0.000 kg
Xg 0 . 0 0 0 m m
!
Select {CLEAR DATA}
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
Clear data?
U *
R *
Y E S
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 :
**:S *
L *
U *
R *
B *
T *
C O M P L E T E
!
3-39
U T I L I T Y
L
R1
C S
0.00 deg.
0.00 deg.
0.00 deg.
*1
Select "YES"
U T I L I T Y
L
R1 C
S
T C 5
<STATUS>
TC1
TC2
TC3
N O
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
3.9 Tool Data Setting
*2