7-16
168283-1CD
168283-1CD
Hardware Installation &
Software Upgrade
7 System Setup
7.2 Tool Data Setting
7.2.2.1 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.
1. Move the R, B, or T axes using the axis key.
– By pressing the axis keys for the A3, A4, and A5 axes, change the
manipulator pose without changing the TCP position.
If this operation shows a large TCP error, adjust the tool data.
Tool center
point
TCP
66 of 121