YASKAWA NX100 Instructions Manual page 89

There are 24 tool files numbered 0 to 23. In a basic system with one manipulator and one
SUPPLE
tool, the tool file for tool No.0 is used. If there is more than one tool, for example when
-MENT
using a multihand, use the tool numbers in the order 0, 1, 2, .... etc.
Tool pose data is not registered in tool calibration. For details on how to register pose data,
SUPPLE
refer to "Registering Tool Angle" of "8.3.1 Registering Tool Files".
-MENT
Operation
1 Select {ROBOT} under the
main menu.
2 Select {TOOL}.
3 Select the desired tool num-
ber.
4 Select {UTILITY} under the
menu.
5 Select {CALIBRATION}.
In the same way shown in Explanation 2, 3 in "Registering Coor-
dinate Data" of "8.3.1 Registering Tool Files" the desired coordi-
nate window is shown.
DATA EDIT
TOOL
TOOL NO. : 0 / 24
_ _
RB1 STD TOOL
NAME
X 0.000
Y 0.000
Z 260.000
W 0.000
Xg 0.000
Yg 0.000
Zg 0.000
Main Menu Short Cut
The TOOL CALIBRATION window is shown.
DATA EDIT
TOOL CALIBRATION
TOOL NO. : 00
:
S
L
U
R
B
T
COMPLETE
Main Menu Short Cut
8-23
8.3 Tool Data Setting
Explanation
DISPLAY UTILITY
mm Rx 0.00 deg.
mm Ry 0.00 deg.
mm Rz 0.00 deg.
kg
Ix kg.m2
mm 0.000
mm Iy 0.000 kg.m2
mm Iz 0.000 kg.m2
PAGE
DISPLAY UTILITY
POSITION TC1
<STATUS>
:
TC1
:
TC2
:
TC3
:
TC4
:
TC5
CANCEL