Hanwha HCR-5, User Manual

Page: 78 / 206

Chapter 7 Setting Robots
78
Calculating the TCP position
By using the direct teaching function, you can calculate the position of TCP.
To calculate the position of TCP accurately, receive the position data from various
angles with respect to one point and analyze them.
After moving a tool to face a certain point at P1, enter the position data. After that,
move to an arbitrary point, P2 and let it face the same point and enter the position data.
Proceed this way until you have at least three points. The angle between each point (A,
B) should be at least 10
°
.
Note

A tool is not included in the product package.

The TCP location may not be calculated correctly depending on the tool
shape or the TCP movement.

Since only the TCP location is calculated, you should enter the weight
and the center of gravity of the tool before direct teaching.