# calibrate tool frame

**URL:** <https://tech-community.robotics.abb.com/t/calibrate-tool-frame/3919>\
**Category:** Robot Controller\
**Created:** [November 18, 2010, 3:02am UTC](https://tech-community.robotics.abb.com/t/calibrate-tool-frame/3919 "2010-11-18T03:02:49Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![candy](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/candy/32/3315_2.png) [@candy](https://tech-community.robotics.abb.com/u/candy)\
**Post date:** [November 18, 2010, 3:02am UTC](https://tech-community.robotics.abb.com/t/calibrate-tool-frame/3919/1 "2010-11-18T03:02:49Z")

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Today, I am doing the calibration of the tool frame.I install a welding gun in the robot.

open"jogging",then create a new tool named “tool1”,then define using four points TCP(default orient.),then I jog the robot to an appropriate position,then tap " modify positon" now ocurs: Active mechanical unit is not calibrated. why?how?☹

At the same time,I have a quesiton:where do I find the data of the TCP of the robot.Without any action,I can find it from the Flexpedent.YES OR NO?

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**Author:** ![Henrik\_Berlin](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/henrik_berlin/32/1011_2.png) [@Henrik\_Berlin](https://tech-community.robotics.abb.com/u/Henrik_Berlin)\
**Post date:** [November 18, 2010, 2:37pm UTC](https://tech-community.robotics.abb.com/t/calibrate-tool-frame/3919/2 "2010-11-18T14:37:21Z")

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Moved to RobotWare forum.

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**Author:** ![candy](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/candy/32/3315_2.png) [@candy](https://tech-community.robotics.abb.com/u/candy)\
**Post date:** [November 25, 2010, 2:20am UTC](https://tech-community.robotics.abb.com/t/calibrate-tool-frame/3919/3 "2010-11-25T02:20:16Z")

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I have not solved the calibration problem.Would any one give me some tips?Thank you!

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**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [November 25, 2010, 2:34am UTC](https://tech-community.robotics.abb.com/t/calibrate-tool-frame/3919/4 "2010-11-25T02:34:16Z")

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Hi,

Are the rev counters updated on the robot (presume that is the mechanical unit you are using)?

You can view the current TCP location in the jogging window.  
Otherwise the tooldata gives the location of the tool TCP in relation to Tool0.

Regards  
Graeme

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**Author:** ![candy](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/candy/32/3315_2.png) [@candy](https://tech-community.robotics.abb.com/u/candy)\
**Post date:** [November 29, 2010, 10:33am UTC](https://tech-community.robotics.abb.com/t/calibrate-tool-frame/3919/5 "2010-11-29T10:33:01Z")

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Hi,graemepaulin ,I have found why.Yes,your tip is paid a role.I have not updated the rev counters.But now I found a new problem: every time,I open my robot,I have to do the same work:updating the rev counters.What happend?How do I do ?Why?I updated the rev counters ,but how to assess?Where can I see the posture matrix of the end of the robot(TCP),?_1??Z?o??T"??Y??\_\_??+?3??s,??_??Yc?~??\_\_??o relativing to the end of the robot base coordinate system?