YASKAWA NX100 Instructions Manual page 93

Checking the TCP
After registering the tool file, check if the TCP is correctly registered by performing a TCP fixed
operation like the one shown below, in any coordinate system other than the joint.
Operation
1 Press [COORD].
2 Select desired tool number.
3 Move the R, B, or T axes using
the axis key.
For details on the TCP fixed operation, see "2.8.1 Motion about TCP" in OPERATOR'S
SUPPLE
MANUAL.
-MENT
Select any coordinate system except "
[COORD].
DATA EDIT
TOOL
TOOL NO.:00
NAME TORCH MT-3501
X 0.000
Y 0.000
Z 30.000
Show the coordinate window of the desired tool by pressing the
GO BACK
page key or selecting it in the TOOL window.
PAGE
By pressing the axis keys for the R, B, and T axes, change the
manipulator pose without changing the TCP position.
If this operation shows a large TCP error, adjust the tool data.
8-27
8.3 Tool Data Setting
Tool center
point
Explanation
JOINT" by pressing
UTILITY
DISPLAY
mm deg.
Rx 0.00
mm Ry deg.
0.00
mm
Rz deg.
0.00
TCP