TCP Orientation

Calibration checklist:

Create a new sequence in Delfoi "TCPori"
Add a PTP point with calibrated tShort
Change the tool to tLong, add PTP point without moving the robot
Select the 1st point in the sequence
Perform TCP Orientation

Calibrating TCP Orientation

Create a new subprogram in Delfoi named "TCPori" and save a PTP point with the tool tShort. Then change the tool from jog panel to tLong and without moving the robot, save a second point using the tLong tool. Select the point with tShort active and perform TCP Orientation from Calibration Tools.

The results of the calibration are now saved to the active tool tShort.

TCP Orientation

TCP Orientation

TCP Orientation done!