7 System Setup
7.2 Tool Data Setting
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168283-1CD
168283-1CD
Hardware Installation &
Software Upgrade
7.2.1.4 Setting the Tool Load Information
The tool load information includes weight, a center of gravity position, and
moment of inertia at the center of gravity of the tool installed at the flange.
7.2.2 Tool Calibration
To ensure that the manipulator can perform motion type operations such
as linear and circular motion types correctly, accurate dimensional
information on tools such as torches, tools, and guns must be registered
and the position of the TCP must be defined.
Tool calibration is a function that enables this dimensional information to
be registered easily and accurately. When this function is used, the TCP is
automatically calculated and registered in the tool file.
What is registered in tool calibration is the coordinates of the TCP and the
tool posture data in the flange coordinates.
Flange
coordinates
XF
YF
ZF
XT
YT
ZT
<Flange coordinates>
XF: Vertically upward direction when the current
position on the T-axis of the manipulator is "0"
YF: Y-axis complementing XF and ZF
ZF: Direction perpendicular to the flange face
Tool
coordinates
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