TEACHING A TOOL

CENTER POINT USING

THE 6 POINT METHOD
Purpose
• The purpose of this slideshow is to show you how to
reteach a tool center point by moving the robot 6 different
ways to the same point.

Pre-requisites
• Before you begin, you have to decide which point of your
tool you're going to want to use as a TCP. You will also
need a teaching stand, or any stationary object in space
near the robot to teach the tool to.
Step 1
• Choose a TCP
- for material handlers, you will most likely want to use
one of the locating pins on the tool
- for a spot welder, you will want to use the stationary tip
on the welder
- for sealers or mig welders, you will want to use the tip
of the gun as your TCP
Step 2
Enter your frames
page on the teach
pendant. Press
2
“MENU”, cursor
down to
3
“SETUP”(6), and
select “Frames”

1
Step 3
From your Frames
page, cursor down to
which ever tool you
want to use, and
make sure the values
are cleared from it.
Press “CLEAR”(F4).

Once the values are

2 1
cleared, select
“DETAIL”(F3)
Step 4
This is where you will
choose what method
you want to use to
teach the TCP. For
this application, you 2
will press
F2(METHOD) and
press the “2” key(six
point) 1
Step 5
The first position you will
record is the Orient
Origin Point. For this
point, you will bring your
TCP to the tcp stand, and
touch it up with the tool
sitting as level as you
can get it. When your
TCP is touching the
stand, hold “SHIFT” and
press “RECORD”(F5) Hold
Step 6
Cursor down to “X
Direction Point”. For this
point, you will move the
tool a few feet into the
direction that you want
your X-axis to be,
maintaining the same
orientation. Hold “SHIFT”
and press
“RECORD”(F5). Then
cursor back up to “Orient
Origin Point and press
“MOVE TO”(F4)
 Step 7
Your next point will be like
your last one, but instead you
will be moving in the direction
you want your Z-axis to be.
Jog the robot in your desired
“Z positive” direction, hold
“SHIFT” and press
“RECORD”(F5). Then cursor
back up to “Orient Origin
Point and press “MOVE
TO”(F4)
Step 8
Your next 3 three points will all
be similar. You will cursor to
“Approach Point 1” and then jog
the robot to a position where
the TCP is touching your
teaching stand. Hold “SHIFT”
and press “RECORD”(F5).
Repeat step 8 for Approach
Points 2 and 3, but using all
different orientations and
positions.
Step 8 (cont.)
Whenever you
press “SHIFT”
“RECORD” for the
third Approach
Point, values will
appear in the joint
coordinates of
your tool frame
Step 9
Now that your tool center point has
been made, the final step is to select
your new TCP, and reorient around it
to make sure it is accurate. To select
your new TCP, hold “SHIFT” and
press “COORD”. A yellow tab will
appear at the top right hand corner.
Just press the number of your tool
frame and press “ENTER”, and the
robot will switch to that TCP. Now put
your robot in the “TOOL” coordinate
system and jog around your TCP.