Simplified Tool Coordinates Definition

Overview

Mounting an actual tool on the robot flange and teaching the same point more than one times (multiple point teaching) enable the tool coordinates to be defined.
For the 4-axis robot, you can perform the teaching of the same point more than one times by changing the robot posture.
If you prefer more simple teaching methods, please refer to "Setting Tool Coordinates by Easy Teaching" of TEACH PENDANT OPERATION GUIDE.

Checking the Tool Coordinates Defined

Switch the operation mode to Tool and select the defined tool. Confirm that the tool end does not move when running the robot to change only its posture without motion of Rx or Ry. If the tool end greatly moves, make tool coordinates definition again.
For the 4-axis robot, move the Rz to check the defined tool coordinates.