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displays all current tool coordinate system and tool pose information. Region 2
automatically calibrates the current tool coordinate system. Region 3 manually sets
the tool coordinate system information.
Fig. 8-120 Calibration of the tool coordinate system.
1. Tool Display
The table shows the names and pose parameters of all tool coordinate systems
established by the current robot. To delete a tool, select it in the table and click the
“Delete Tool” button. After the deletion is completed, the robot operates in end flange
coordinate system. In addition, the Arm_Tip (robot tool end coordinate system)
cannot be deleted.
2. Automatic Calibration
After selecting this feature, the current tool coordinate system can be calibrated by the
six-point method. First, fill in the name of the tool (English characters, no more than
10 characters), and then contact the tool reference point with the robot tools in six
pose respectively (this reference requires that the end is sharp and placed vertically
within the robot reachable range).
After the 6 points have been calibrated, click “Add Tool” to automatically calculate
the current tool information according to the 6 points. After the calculation is