Utilizing CAPTRON High-Precision Photoelectric Sensors for Automatic TCP Calibration with FANUC S627

In industrial robotics, a robot's workspace is defined using multi-dimensional coordinate systems. This allows robots to perform programmed tasks by moving to precise positions within that coordinate space.

When a tool is mounted to a robot, the robot controller must know the exact location of the tool tip relative to the robot flange. This offset is defined as the Tool Center Point (TCP). TCP values typically include X, Y, Z, RX, RY, and RZ coordinates, depending on the robot's degrees of freedom.

FANUC's S627 Automatic TCP software package simplifies the process of setting and recalibrating TCP values by utilizing a photoelectric sensor. The software automatically determines the TCP location by searching through a sensor reference point, making it ideal for initial tool setup as well as runtime recalibration to compensate for tool wear, deflection, or replacement.

Applicable FANUC Controller Series

The S627 software package is compatible with the following FANUC controller platforms:

• R-30iB
• R-30iB Mate
• R-30iB Plus
• R-30iB Mate Plus
• R-30iB Compact Plus
• R-30iB Mini Plus

How Automatic TCP Calibration Works

The S627 package is particularly effective for cylindrical tools such as:

• Dispensing nozzles
• Dispensing needles
• Welding wires
• Drill bits
• Similar round tooling

Using FANUC's supplied routines, the robot determines the X and Y TCP coordinates by moving the tool through the opening of a photoelectric fork sensor. The software then calculates the Z position by lowering the tool until it interrupts the sensor's light beam.

Tool orientation can also be determined by rotating the tool through the sensing beam, allowing the software to calculate angular offsets automatically.

This automated process significantly reduces setup time while improving TCP accuracy and repeatability.

Why Choose CAPTRON Photoelectric Fork Sensors?

CAPTRON photoelectric fork sensors are an excellent choice for FANUC S627 applications because they combine high precision with industrial-grade durability.

Key advantages include:

• Rugged IP65-rated construction for demanding industrial environments
• High-resolution detection down to 0.5mm
• Adjustable sensitivity settings
• Configurable Normally Open (NO) or Normally Closed (NC) outputs
• Reliable operation in environments where dust and debris may be present

The 0.5mm resolution means the sensor can reliably detect objects as small as 0.5mm, making it well-suited for applications requiring precise TCP measurement and calibration.

Adjustable sensitivity allows users to fine-tune performance and reduce the likelihood of false triggering caused by contamination or environmental conditions.

Trusted by FANUC

CAPTRON's proven performance is recognized within the robotics industry. The FANUC S627 Operator Manual references CAPTRON sensors as devices that have been successfully used in previous applications, demonstrating a proven track record in automatic TCP calibration systems.

How to Select the Right CAPTRON Fork Sensor

All CAPTRON optical fork sensors provide the same high level of durability, reliability, and measurement accuracy. Sensor selection is primarily determined by the physical dimensions of the tool being measured.

The tool must be able to pass freely through the sensor opening during the TCP calibration process.

Available models include:

CAPTRON Model	Fork Opening
OGL-20T-PU6*	20mm
OGL-50T-PU6*	50mm
OGL-80T-PU6	80mm
OGL-120T-PU6	120mm

*Call for availability

Learn more about CAPTRON Optical Fork Sensors

Want to Learn More?

For additional technical information, consult the FANUC S627 Operator Manual or contact your local FANUC representative.

You can also reach the CAPTRON North America team for application support and product selection assistance:

Sales: sales.americas@captron.com

Technical Support: techsupport.americas@captron.com