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program execution, which is convenient for debugging the program.
9.8 System Setup
9.8.1 Tool Coordinates Setting
To ensure that the manipulator can perform motion type operations such as linear and circular
motion type correctly, accurate dimensional information on tools such as torches, tools, and guns
must be registered and the position of the TCP must be defined. The tool coordinates are
established by registering the coordinates of the TCP and the tool angle in the flange coordinates
of the manipulator. After that, the TCP is automatically calculated and registered in the tool file.
There are 8 tool coordinates numbered from 0 to 7 can be set in the system. Go to the page of
"Readiness for operation - Tool coordinates", and select the tool coordinate number. The TCP can
be calculated by inputting the tool coordinate values (the position of TCP and the tool angle) in the
flange coordinates or performing the seven-point tool calibration.
Doc No.：T202001005
Page 100 of 130
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