Mastering & calibration
Six-Point TCP Calibration
For a technician defining a tool center point and tool orientation using the Six Point (XZ) method. Three approach points fix the TCP x,y,z on a common physical point. Three additional points define the tool's orientation axes at different physical locations.
- Step 1.
Set up a fixed reference point
Mount a sharp pointer or jig tip fixed in space that the tool tip can approach from multiple directions.
- Step 2.
Open Tool Frame setup
On the pendant, go to Setup, Frames, Tool Frame. Select an unused frame number (up to 10 standard, up to 253 extended) and choose the Six Point (XZ) method.
- Step 3.
Record Approach point 1
Jog the tool tip to the fixed reference from one orientation and record with SHIFT+RECORD.
Caution: Jog in T1 low speed with the deadman held. Keep fingers clear of the pointed reference.
- Step 4.
Record Approach points 2 and 3
Approach the same physical reference point from two more clearly different orientations and record each. These three points fix the TCP x,y,z, same as the Three Point Method.
- Step 5.
Teach the Orient Origin Point
Move the robot to a convenient position and record the Orient Origin Point. This is a different physical location from the approach point; it anchors the orientation setup.
- Step 6.
Teach the X Direction Point
From the Orient Origin, jog the tool along the desired +X tool direction and record the X Direction Point at a distinct physical location.
- Step 7.
Teach the Z Direction Point
Return to the Orient Origin, jog along the desired +Z tool direction, and record the Z Direction Point at a distinct physical location.
- Step 8.
Confirm all points show USED
The Six Point screen shows RECORDED/USED status for each point. Unlike the Four Point Method, no Mean or Max error value is displayed for Six Point.
- Step 9.
Activate and test the tool frame
Activate the frame with SETIND to its number. Switch to tool-frame jog and rotate the wrist to confirm the tip stays fixed at the reference.
Common questions
- How long does Six-Point TCP Calibration take?
- Six-Point TCP Calibration is rated Intermediate and takes about 30 minutes across 9 steps.
- What tools do I need?
- You will need Teach pendant, Fixed pointed reference (test tip or jig).
- What should I do before starting?
- Tool is physically mounted and torqued to spec.. A sharp fixed reference is set up in the workspace.. Robot is correctly mastered..
- What is the first step?
- Set up a fixed reference point. Mount a sharp pointer or jig tip fixed in space that the tool tip can approach from multiple directions.