Hello,

I'm trying to use the six point teach method on a FANUC 6 axis LR Mate (R-30iA controller) for setting up a tool frame. After much deliberation, we still cannot rotate the component around the y and x axis properly in the world coordinate.

FANUC Tool frame setup - Imgur

https://www.youtube.com/watch?v=KUUMOGhsSBA

these are links to the teach points we have used, and a video demonstrating how the component will not rotate properly around the x and y axis. Currently we are working on a direct entry method, but while working on this method, I was hoping for some answers on how to properly configure a tool center point using the six point method.

Thanks,
jewellUC