库卡KUKA机器人资料mp2-tool-fixed-en

FixedtoolXYZTheworkpieceismountedontherobotflangeandcalibrated.XYZXYZCalculationofthedistancebetweentheTCPofthefixedtoolandtheoriginoftheworldcoordinatesystem.“Fixedtool”meansthattherobotguidesaworkpiecetooneormorestationarytoolsthatareintegratedintothecell.

Calibrationconsistsoftwoparts:01/20061tool_fixed_en.pptCalibrationofthefixedtoolThecoordinatesaresavedasBASE_DATA[1]....[32].1.Calibratethefixedtool+X+Y+ZThismethodisusedtodeterminetheTCPofatoolthatisstationaryratherthanhandledbytherobot.01/20062tool_fixed_en.pptCalibrationofthefixedtool 1ststepFirstofall,atoolofknowndimensionsismovedtotheTCP(toolcenterpoint)ofthefixedtool.TCPatreferencetool01/20063tool_fixed_en.pptCalibrationofthefixedtool 2ndstepInthesecondstep,therobotflangeisalignedperpendiculartotheworkingdirectionofthetool(tooldirection).+X+Y+ZTheorientationiscalibratedusingthe5Dor6DmethodatthenewTCP.Wristflange01/20064tool_fixed_en.pptXYZCalibrationofthemovableworkpieceThecoordinatesaresavedasTOOL_DATA[1]....[16].2.CalibratetheworkpieceXYZThismethodisusedtodeterminethereferencepointofaworkpiecemountedontherobotflange.01/20065tool_fixed_en.pptOriginatTCPCalibrationofthemovableworkpiece 1ststepTheoriginoftheworkpiececoordinatesystemmustbeshiftedtotheTCPofthefixedtool.01/20066tool_fixed_en.pptXOriginCalibrationofthemovableworkpiece 2ndstepInthesecondstep,apointonthepositiveXaxisoftheworkpiececoordinatesystemisaddressed.01/20067tool_fixed_en.pptYXOriginZZCalibrationofthemovableworkpiece 3rdstepInthefinalstep,apointwithapositiveYvalueintheXYplaneoftheworkpiececoordinatesystemisaddressed.01/20068tool_fixed_en.pptSettingthetool/externaltool01/20069tool_fixed_en.pptToolandbasetypeDefinedtypeNameofthetool

orbase01/200610tool_fixed_en.pptPracticalexer