S4 controller

[wes_mcgee]

I am working with a team using the S4 control(I have only used the IRC5 before). I am wondering if the tool calibration routines exist(such as 4 point and 4 point plus Z) or were these added with the IRC5 later?

Thanks,

[robotace1]

Are you trying to define a tool (TCP)? If so below is the steps to do so. 

• Open the Program Data Types window by choosing View: Data Types.
• Select the type tooldata and press Enter .
• Select a tool.
• Choose Special: Define Coord.
A dialog box appears, displaying the points defined by whichever method was used
The status can be defined as follows:
Status Meaning
- No position defined
Modified Position modified
To choose a definition method
Before you start modifying any positions, make sure the desired method is displayed.
See Methods of defining the tool coordinate system on page 29.
• Select the field Method and press Enter .
• Choose a method and press OK.
To record Approach Points
• Select the first point Approach Point 1.
• Jog the robot as close as possible to the world fixed tip.
• Modify the position by pressing the function key ModPos.
• Repeat the above for the points Approach Point 2-4.
To record Elongator Point Z (if the 4-point TCP method is not used)
• Select Elongator z Point.
• Jog - without changing the orientation from the last approach point - any point on
the desired positive z axis to the world fixed tip. An extension should be fitted to
obtain better accuracy.
• Modify the position by pressing the function key ModPos.
To record Elongator Point X (only if the 6-Point TCP&XZ method is used)
• Select Elongator x Point.
• Jog - without changing the orientation from the last approach point - any point on
the desired positive x axis to the world fixed tip.
• Modify the position by pressing the function key ModPos.
To calculate the tool coordinate system
• Press OK to calculate the tool coordinate system.
When the calculation is finished, a dialog like the one in Figure 30 will appear.
Field Description
TCP The values of the calculated TCP.
Mean Error The average distance that the approach points are from the
calculated TCP, i.e. how accurately the robot was positioned
relative to the tip.
Max Error The maximum error for one approach point.
The calculation result can be saved in a separate file for later use in a PC.
However, this file cannot be read by the robot:
• Press the function key File.
• Specify a name and a place to save the result.
• Choose OK to confirm the save.
• If the estimated error is
- acceptable, press OK to confirm the new tool coordinate system;
- not acceptable, redefine by pressing Cancel.
The definition is now complete, but before proceeding with other tasks, verify it by
linearly jogging in the tool coordinate system and by reorienting the TCP.
If the tool has been stored in a system module, save this module.