Creating A Tool - ABB IRC5 with FlexPendant Operating Manual

5.5.3 Creating a tool

What happens when you create a tool?
When you create a new tool a variable of the data type tooldata is created. The
variable name will be the name of the tool. For more information on data types,
see Technical reference manual - RAPID Instructions, Functions and Data types.
The new tool has initial default values for mass, frame, orientation etc., which must
be defined before the tool can be used.
How to create a tool
The tool center point of the default tool (tool0) is in the center of the robot's
mounting flange and shares the orientation of the robot base.
By creating a new tool you define another tool center point. For more information
about tools and the tool center points see
the tool center point? on page
en0400000779
A
1
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Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
Tool center point, TCP, for tool0
Action
On the ABB menu, tap Jogging.
Tap Tool to display the list of available tools.
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5 Programming and testing
What is a tool? on page
176.
5.5.3 Creating a tool
175and What is
A
Continues on next page
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