Setup For Stationary Tools - ABB IRC5 with FlexPendant Operating Manual

5.5.8 Setup for stationary tools

Stationary tools
Stationary tools are used, for instance, in applications that involve large machines
such as cutters, presses and punch cutters. You may use stationary tools to perform
any operation that would be difficult or inconvenient to perform with the tool on
the robot.
With stationary tools, the robot holds the work object.
Make a tool stationary
This section describes how to make a tool stationery.
1
2
3
4
5
6
7
Make a work object robot held
This section describes how to make a work object robot held.
1
2
3
4
5
6
Differences in coordinate system referencing
This section describes differences in coordinate system referencing.
The...
work object coordinate sys-
tem
user coordinate system
tool coordinate system
Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
Action
On the ABB menu, tap Jogging.
Tap Tool to display the list of available tools.
Tap the tool you want to edit, then tap Edit.
A menu appears.
In the menu, tap Change value.
The data that defines the tool appears.
Tap the instance robhold.
Tap FALSE to make this tool stationary.
Tap OK to use the new setup, Cancel to leave the tool unchanged.
Action
In the Jogging window, tap Work object to display the list of available work objects.
Tap the work object you want to edit, then tap Edit.
A menu appears.
In the menu, tap Change value.
The data that defines the work object appears.
Tap the instance robhold.
Tap TRUE to indicate that this work object is held by the robot.
Tap OK to use the new setup, Cancel to leave the work object unchanged.
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.5.8 Setup for stationary tools
...normally references the...
user coordinate system
world coordinate system
robot's mounting plate
...but now references the...
user coordinate system (no
change)
robot's mounting plate
world coordinate system
Continues on next page
189