I tried TCP on Dx200 controller + MA1440 motoman many times but not thing happen. Rx,Ry,Rz still moving weirdly. Can someone help me this one. I tried Coord or Posture and other
Need help with TCP calibration
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Khoa2khoa -
April 16, 2024 at 6:43 PM -
Thread is Unresolved
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MOM
April 16, 2024 at 6:44 PM Approved the thread. -
You can see the Yaskawa manual for calibration, the best method is 5 point that calculate the coordinate and posture, of course it need to set parameters for its calculation, i don't remember it now but i will check and tell you.
After set parameters, put a pin in front of robot, match the tip of tool and pin for first point, it will calculate the Z direction and angle, if you have welding torch, vertical the torch and set the tip of torch and pin.
After that you need to set 4 another point with change angle of robot, that is better to move all axis for more accuracy in the calibration.
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Try using COORD+POSTURE to get both X,Y,Z and Rx,Ry,Rz values. Teach TC1 in perfect parallel alignment to the TCP fixture. Then teach the rest of the TC points.