YASKAWA Motoman UP6, Instructions Manual

Page: 198 / 561

3.9 Tool Data Setting
3-40
"
Checking the Tool Center Point
After registering the tool file, check if the tool center point is correctly registered by performing
a TCP fixed operation like the one shown below, in any coordinate system other than the joint
coordinates.
*1
Select any coordinate type except “JOINT” by pressing [COORD].
*2
Show the tool coordinate display of the desired tool by pressing the page key or
selecting it in the tool list.
*3
By pressing the axis keys for the R, B, and T axes, change the manipulator pose with-
out changing the tool center point position.
If this operation shows a large tool center point error, adjust the tool data.
Press [COORD]
*1
Select desired tool number
*2
Move the R, B, or T axes using
the axis key
*3
For details on TCP fixed operation, see the Operator's Manual (Application)
Control
point
O peration
Explanation
S C
L
R1
T O O L
TOOL NO. : 0 0
N A M E : T O R C H 1
X
0.000 mm Rx 0.00 deg.
D A T A E D I T D I S P L A Y UTILITY
Control point
error
S U P P L E -
M E N T