Defining The Tool Frame - ABB OmniCore Operating Manual

6 Programming and testing

6.5.4 Defining the tool frame

6.5.4 Defining the tool frame
Preparations
To define the tool frame, you first need a reference point in the world coordinate
system. If you need to set the tool center point orientation, you also need to affix
elongators to the tool.
You also need to decide which method to use for the tool frame definition.
Available methods
There are three different methods which can be used when defining the tool frame.
All three require that you define the cartesian coordinates of the tool center point.
What differs is how the orientation is defined.
If you want to...
set the orientation the same as the orientation
of the robot's mounting plate
set the orientation in Z axis
set the orientation in X and Z axes
How to define position and orientation
This procedure describes how to select the method to be used when defining the
tool frame.
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1 On the start screen, tap Calibrate, and then select Tool from the menu.
2 Tap the tool you want to edit.
The Edit Tool window is displayed.
3 Tap Define in the menu.
The Tool TCP Definition, Define Position window is displayed.
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...then select
TCP (default orient.)
TCP&Z
TCP&Z,X
Operating manual - OmniCore
3HAC065036-001 Revision: D