Tools; What Is A Tool - ABB IRC5 with FlexPendant Operating Manual

5.5 Tools

5.5.1 What is a tool?

Tool
A tool is an object that can be mounted directly or indirectly on the robot turning
disk or fitted in a fixed position within the robot working range.
A fixture (jig) is not a tool.
All tools must be defined with a TCP (Tool Center Point).
Each tool that can be used by the robot must be measured and its data stored in
order to achieve accurate positioning of the tool center point.
Illustration
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Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure.
When incorrect load data is specified, it can often lead to the following
consequences:
• The robot will not be used to its maximum capacity
• Impaired path accuracy including a risk of overshooting
• Risk of overloading the mechanical structure
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
Tool side
Robot side
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5 Programming and testing
5.5.1 What is a tool?
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