Tool calibration is performed using a tool calibration fixture. After you have taught all of the positional information on the workpiece, you can use the tool calibration procedure to define a reference position (REFPOS) inside the tool calibration fixture. You must do this only once. Defining the reference position gives the robot positional information related to a position that will not change with respect to the workpiece.
You can define a reference position and perform tool offset calibration from the MNFCTN: Tool screen.
Refer to Table 1, " Disposable Tool Offset Calibration Items " for information on disposable tool offset configuration items.
Table 1. Disposable Tool Offset Calibration Items
Item |
Description |
---|---|
Home program |
This item displays the current teach pendant program name, "MOV_HOME," which will be used to move the robot to its home position. |
Fixture program |
This item displays the current teach pendant program name, "MOV_FIXT," which will be used to move the tool near the tool calibration fixture. |
TOOL $MNUTOOLNUM[1] |
This item displays the tool frame, defined by MNUTOOL, that will be modified. This number cannot be modified. |