6-point tcp calibration

    Hi,

    is there a way to calibrate the rotations of a TCP in Yaskawa motoman robots? I know that different manufacturers approach it differently, but it seems that the 5-point calibration in motoman robots seems to only translate the coord system (X, Y, Z) and does not affect the rotations (Rx, Ry, Rz). Is inserting the Rx, Ry, Rz values manually the only way to modify them or is there any other way? Any help would be appreciated :smiling_face:

    What generation of controller? YRC1000 and most DX200s can give angles. In the calibration screen there is a method. The options in the drop-down are COORD, COORD+POSTURE, and POSTURE.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

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