Settings Needed For Teaching; Axis Specifications: Tool Data - Janome JR3200 series Operation Manual

7. SETTINGS NEEDED FOR TEACHING

Before registering a program etc. matchup the following settings to the methods and environment with
which you will use the robot.

7.1 3-Axis Specifications: Tool Data

The following settings are in [Tool Data]:
• Tool Mass (the mass affecting the Y axis)
• TCP-X: The X direction distance from the tool tip during teaching to the current tool tip
• TCP-Y: The Y direction distance from the tool tip during teaching to the current tool tip
• TCP-∆Z: The Z direction distance from the tool tip height during teaching to the current tool tip
height
The offset value for the offset from the tool tip is referred to as the tool center point (TCP).
Tool Mass
This [Tool Mass] refers to the total mass of the tool and of the object which the tool is holding. Make
sure this mass is equal to or lower than the registered mass.
Caution
TCP-X, TCP-Y
For 3 axes specifications, TCP-X and TCP-Y are set
with the teaching tool weight and the current tool
weight offset (the offset amount for the X direction
and Y directions).
With [Direct TCP-XY Setting], you can automatically
calculate (subtract) and set the offset by indicating a
registered point when changing tools during
teaching.
For 3 axes specifications, it is not necessary to set
the TCP-X and TCP-Y in advance. Teach with the
0,0 setting as is, and if there is a tool tip offset when
you change tools etc., set that difference for the first
time then.
Setup
If the tool mass is heavier than the registered settings, a position
error may occur.
40
TCP-X
View from above
Current Tool
Position
TCP-Y
Tool Position
During Teaching
View from the side
Desktop Robot JR3000