Tool Data Setting; Registering Tool Files; Number Of Tool Files; Registering Coordinate Data - YASKAWA Motoman UP6 Instructions Manual

3.9 Tool Data Setting

3.9
Tool Data Setting
3.9.1

Registering Tool Files

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Number of Tool Files

There are 24 tool files numbered 0 to 23. Each file is called as a tool file.
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Registering Coordinate Data

When the number input operation is used for registering the tool file, input the control point of
the tool on the flange coordinates.
Control point
Operation
Select {ROBOT} under the top menu
*2
number Select the desired coordinate axis to modify
*4
Press [ENTER]
Explanation
*1
The tool list display is shown. When the tool extension function is valid, the list is
shown. When the tool extension function is invalid, the coordinate display is shown.
Tool File Extension Function
S U P P L E -
Normally, one robot uses one kind of tool file. The tool file extension function can change
M E N T
many tool files to be used by one robot. Use the following parameter to set this function.
S2C261: TOOL NO. SWITCHING (1: enabled, 0: disabled)
For more details, refer to "Concurrent I/O(Parameter".
T O O L F I L E 0
X
F
Y
F
Tool
Z
F
T O O L F I L E 2 3
*1
Select {TOOL}
*3
Input the tool data
3-32
Select the desired tool