ABB OmniCore S Series Operating Manual page 126

6 Programming and testing
6.6.5 Defining the tool frame
Continued
How to proceed with tool frame definition
This procedure describes how to define the tool center point in Cartesian
coordinates.
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126
1 Jog the robot to an appropriate position, A, for the first approach point.
Use small increments to accurately position the tool tip as close to the
reference point as possible.
2 Tap Modify to define the point.
3 Repeat step 1 and 2 for each approach point to be defined, positions B, C,
and D.
Jog away from the fixed world point to achieve the best result. Just changing
the tool orientation will not give as good a result.
4 If the method you are using is TCP&Z or TCP&Z,X orientation must be defined
as well.
Follow the instructions in
5 If, for some reason, you want to redo the calibration procedure described in
step 1-4, tap Cancel.
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How to define elongator points on page
Operating manual - OmniCore
127.
3HAC065036-001 Revision: E