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2.11. Axis constant and tool length optimization setting

2.11. Axis constant and tool length optimization setting​

 

This is the function to improve the accuracy of the linear interpolation trace and coordinate conversion by automatically setting the axis number and tool length. This is the principle of calculating the linear interpolation number calibrated from each step data of the recorded program for the same point in various positions.

With this function, you can automatically set the hard to measure distances to the tool end in 3D. The linear interpolation number calibrated is the axis number for H, V, R2 and B axis and tool length in X, Y and Z direction.

The ‘axis constant and tool length’ optimization and the ‘tool length’ optimization can be performed. Paying attention is required because the position of the existing program changes when the ‘axis constant and tool length’ optimization is performed if the robot program is already made.

 

(1)   Shift the [Mode] switch to a manual mode.

 

(2)   Press the both [SHIFT] key and the [PROG] key of teach pendant and select optional program.

 

(3)   Press the [MOTOR ON] button of the operation panel and check that the MOTOR ON lamp flickers.

 

(4)   Presses the [ENABLE] switch in the rear of teach pendant and then check Robot manually operates by the [axis operation] key.

 

(5)   Place optional pointed point within operation scope of Robot and correspond tool end of Robot.

 

(6)   Record step by pressing the [REC] key of teach pendant.

 

(7)   Change the robot’s posture (Overall posture of the axis 6, if possible) in a wide scope by more than 30deg, then repeat and perform No. (5), (6) by more than 4 times.

 

(8)   Select 『[F2]: System』 → 『6: Automatic constant setting』 → 『1: Optimize axis constant and tool length』.

 

(9)   If pressing the 『[F1]: Execute』 key after setting allowance scope of program number, tool number and step prepared for AUTO integer setting.

 

(10) When you are setting the tool number from the second one to use multiple number of tools, select and execute “Tool” from “Optimization selection = Constant & Tool, Tool” from the screen. When the axis constant and the tool length are selected, the previously set tool information will not be matching.

 

 

l  See the『[F2]: System』→『6: Automatic constant setting』→『1: Optimize axis constant and tool length』.