TCP Calibration

svarshik94 · February 14, 2019 at 8:24 PM

Hi guys, I have robot Motoman MA1440 arc application with controller DX200, i will do accurate calibration of TCP (now i have offset of instrument (wire) from calibration tool 1-1,5 mm).

I couldn't find in manual in which area of robot zone i must mount calibration tool in order to get exact calibration (in front of robot? which area (robot central zone)? what distance?).

Who receive exact calibration of TCP (0,1...0,4 mm)? Who can give me good advice how do this?

Thanks a lot for your time in advance!

Reintz · February 15, 2019 at 11:10 AM

From my experience I'd say there are a number of things that affect the accuracy of TCP. For example your tool weight. If it's not set correctly the TCP will be more off the further the robot reaches out. I have calibrated TCPs for MotoSim use and I have not been able to achieve the precision you requested. At least not from all angles of the tool and from whatever reach of the robot. I'd suggest to calibrate from the distance you use the most. And for calibration itself I use a self-made tool instead of wire. It's made of a welding tip, drilled out and fitted with a tip of a carbide scraper that is sticking out of the welding tip by 20mm. That's my wire length when programing.

svarshik94 · February 16, 2019 at 6:53 PM

Where must be situated calibration tool (jig) - higher then central point of robot?

TCP Calibration

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