2.11. Axis origin and tool length optimization setting

2.11. Axis origin 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 function can automatically set the distance to the tip of tool, which is difficult to measure in 3D.

Corrected parameters are the axis origins of H, V, R2, and B axes, as well as the tool length of the X, Y, and Z directions.

The ‘axis origin 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 origin 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: Auto calibration』 → 『1: Optimize axis origin and tool length』.

 

(9)   When you set a program number for auto calibration, tool number, and tolerance range of step position, press the “[F1] execution” key. The selected axis origin and tool length will be then set up.

 

(10) When you use multiple tools, choose “tool length” from the “Optimization selection =Tool length, axis origin & tool length” on the screen. When the axis origin and the tool length are selected, the previously set tool information will not be matching.

 

 

 

l  See the『[F2]: System』→『6: Auto calibration』→『1: Optimize axis origin and tool length』.