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6. Move to a certain point in the Y direction of the calibration base coordinates and click [Y direction]
to obtain the coordinate record coordinates.
7. Click the [Calibration] button to confirm that the program calculates the calibration coordinates
8. Click the [Save] button to store the calibration value of the base coordinates
9. Switch to the user coordinate system, select the calibrated workpiece number, and move in the
XYZ direction, and it will move in the calibrated direction.
Figure 16-1 Base coordinate calibration
16.2 Four-point calibration of Tool calibration
Description
Move the TCP of the tool to be measured from 4 different directions to a reference point. The
reference point can be selected arbitrarily. The robot control system calculates the TCP from the
different flange position values. The four flange positions used to move to the reference point must
be spread enough apart.