TCP Calibration
4 point tool calibration:
The 4 point tool calibration is a manual process for calibration. The accuracy depends on the operator. A
calibration tool is required for TCP and manual vision calibration. The process for the calibration is as
follows:
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Mount the end effector in the robot flange. Make sure the bolts are tightened.
For the 4 point calibration it is required to place the calibration tool which is a world fixed tip in the
robot range.
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From the main menu go to the Program data,
Click on the Tool Data
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Click on the Show Data,
click New to create a new tool
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Type the name of your tool and click OK, make sure the tool name is similar to the tool name in
your grasshopper file to avoid errors.
After creating the tool, select the tool and go to Edit>Define
Move the tool center point to the world fix tip (Calibration tool) from one orientation. When the tip
is aligned click the Modify position. Repeat the same process 3 more times with different
orientation and click OK.
When the process is completed the calibration result will appear. You can navigate the
information by scrolling the arrow. If the maximum error is more than 1mm it is recommended to
calibrate the tool again. Copy the X,Y,Z values to the grasshopper file. Click OK.
Select the tool Go to the Edit > Change Value. Scroll down to find the value for ‘mass’. By
default it is set to -1. Click on the value and change it to a positive value.