FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.4.2. Defining the tool frame6.4.2. Defining the tool framePreparationsTo define the tool frame, you first need a reference point in the world coordinate system. Ifyou need to set the tool center point orientation, you also need to affix elongators to the tool.Selecting method for defining tool frameThis procedure describes how to select method for defining the tool frame.StepAction1. On the ABB menu, tap Jogging.2. Tap Tool to display the list of available tools.3. Tap and hold the tool you want to define.A menu appears.4. In the menu, tap Define...The tool coordinate system definition dialog box appears.5. Select the method of choice from the Method pop up menu.6. Select the number of approach points from the No of points pop up menu.Available methodsAll methods require you to define the cartesian coordinates of the tool center point. Themethods give you a choice in how the orientation will be set and defined.If you want to...set the orientation the same as the orientationof the robots mounting platekeep the current orientationset the orientation in Z axisset the orientation in X and Z axes...then select4points TCP4 points TCP (orientation unchanged)5points TCP&Z6points TCP&Z,X3HAC 16590-1 Revision: BContinues on next page145