Switching Tool Data - Mitsubishi R56TB Instruction Manual

9.3. Switching Tool Data

Beforehand the tool data setting as MEXTL1 – MEXTL*(It is different depending on the specification of the
robot controller connected) can be selected.
If tool data not change, this operation is not necessary.
Tool data can be selected also from combo box. (<a>)
The tool which can be selected is different depending on the software version of the robot controller
connected.
Version of
this software
CAUTION
When the robot moves with changing tool data, the tool data needs to be changed by setting tool number
into the M_TOOL. To move the robot to the position where teaching was performed while switching tool
data (MEXTL* parameters) during the automatic operation of the program, substitute the M_TOOL
variable by a tool number when needed, and operate the robot by switching tool data. Exercise caution
as the robot moves to an unexpected direction if the tool data during teaching does not match the tool
number during operation.
CAUTION
To move the robot while switching tool data during the step operation of the program, exercise caution as
the robot moves to an unexpected direction if the tool data at the time of teaching does not match the tool
number during step operation.
Table 9-1 The Tool which can be selected by each version
"TOOL0" to "TOOL4"
Version 2.4
or earlier
It is different depending on the specification of the robot
controller connected.
Version 2.5
or later
<a>
The Tool which can be seleced
TOOL0=MEXTL
TOOL1=MEXTL1
TOOL2=MEXTL2
TOOL3=MEXTL3
TOOL4=MEXTL4
TOOL0=MEXTL
TOOL1=MEXTL1
TOOL2=MEXTL2
TOOL3=MEXTL3
TOOL4=MEXTL4
TOOL5=MEXTL5
：
TOOL16=MEXTL16
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