Introduction to the TCP Three-Point Method of FANUC Robot

Three-point method setting method

DETL–METHOD–Enter to enter the three-point method interface:

Three-point method operation steps:

Record approach point 1

a. Move the cursor to Approhpoint1;

b. Switch the teaching coordinates to the global coordinates (WLD) and move the tool so that the tool tip touches the reference point;

c. Press [SHIFT] + F5 [RECORD] (location record) to record

Record approach point 2

a. Move the cursor to Approachpoint2;

b. Switch the teaching coordinates to joint coordinates (JOINT), and rotate the J6 axis (flange surface) at least 90 degrees, but not more than 360 degrees;

c. Switch the teaching coordinates to the global coordinates (WORLD) and move the robot so that the tool tip touches the reference point;

d. Press [SHIFT] + F5 [RECORD] (position record) to record;

Record approach point 3

a. Move the cursor to Approachpoint3;

b. Switch the teaching coordinates to joint coordinates (JOINT), and rotate the J4 and J5 axes within 90 degrees;

c. Switch the teaching coordinates to the global coordinates (WORLD) and move the robot until the tool tip touches the reference point;

d. Press [SHIFT] + F5 [RECORD] (position record) to record;

When the three points are recorded, the new tool coordinate system is automatically calculated and generated. Point 1-3 is displayed as USED, as shown below:

Editor: Huang Fei