YASKAWA Motoman UP6, Instructions Manual

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3.9 Tool Data Setting
3-36
3.9.2
Tool Calibration
"
Tool Calibration
To ensure that the manipulator can perform interpolation operations such as linear and circu-
lar interpolation correctly, accurate dimensional information on tools such as torches, tools,
and guns must be registered and the position of the tool center point 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 tool center point is automatically calculated and
registered in the tool file. What is registered in tool calibration is the coordinates of the tool
center point in the flange coordinates.
"
Teaching
In order to perform tool calibration, five different poses (TC1 to 5) must be taught with the tool
center point as the reference point. The tool dimensions are automatically calculated on the
basis of these five points.
Each pose must be arbitrary. Accuracy may decrease when pose setting is rotated in a con-
stant direction.
For more details on the tool load information, refer to 3.11.3 “Tool Load Information Set-
ting.”
There are 24 tool files numbered 0 to 23. In a basic system with one manipulator and one
tool, the tool file for tool No.0 is used. If there is more than one tool, for example when
using a multihand, use the tool numbers in the order 0, 1, 2, etc.
S U P P L E -
M E N T
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
Control
point
S U P P L E -
M E N T