Hi ;
At Fanuc tehre is 5 point tool teach metod for teacing TCP with angles rx,ry,rz.
Yaskawa I could not find any easy way to set rx, ry, rz, is there any function about this ?
Thanks so much in advance
5 point tool teach method
- emre
- Thread is marked as Resolved.
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Hi emre,
Yaskawa robots have this teaching method.This is the sequence:
Main Menu - Robot - Tool - Select the tool to create TCP - Utility - Calibration
In this screen you find TC1 to TC5, these are the five points you use to create the TCP.
See attached images. -
It depends of tool , but every tool have a drawings with measurements for a angles .
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I am supposed to calibrate tool, I have five Tools going to be used 1) Default or Standard tool, 2) gripper without load 3) gripper with load 4) tool for turning the table 5) tool to define user coordinate. Im using 5point method.
I am new I am just following Training material How should I proceed. Thanks in advance. -
But You can calibrate only one(for example I use a rod tool for calibration ) and use differences in sizes to adjust all of others(if exactly You need empty tool and tool with detail)
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Thank you. After calibrating the tool, selecting the tool and making rotations in X,Y, Z not working properly (it is moving away from the point). Where is going wrong I couldn't able to understand. I have done 5 times but still there is no use How can Overcome this?
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You need to set the parameter S2C432 (for DX100) to 2 for the tool orient to be applied. TC1 will set your orientation, "Z" should be pointing vertically down.
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