ABB OmniCore S Series Operating Manual page 129

X
Y
Z
X
Y
Z
Editing the tool definition
1
2
3
4
5
6
7
Operating manual - OmniCore
3HAC065036-001 Revision: E
X axis for tool0
0
Y axis for tool0
0
Z axis for tool0
0
X axis for the tool you want to define
1
Y axis for the tool you want to define
1
Z axis for the tool you want to define
1
1 Measure the distance from the center of the robot's mounting flange to the
tool's center point along the X axis of tool0.
2 Measure the distance from the center of the robot's mounting flange to the
tool's center point along the Y axis of tool0.
3 Measure the distance from the center of the robot's mounting flange to the
tool's center point along the Z axis of tool0.
Action
Enter the cartesian coordinates of the tool
center point's position.
If necessary, enter the tool frame orientation.
Enter the weight of the tool.
If necessary, enter the tool's center of gravity.
If necessary, enter the orientation of the axis
of moment
If necessary, enter the tool's moment of inertia.
Tap Save to use the new values, Cancel to
leave the definition unchanged.
© Copyright 20192020 ABB. All rights reserved.
6 Programming and testing
6.6.6 Editing the tool data
Instance
tframe.trans.x
tframe.trans.y
tframe.trans.z
tframe.rot.q1
tframe.rot.q2
tframe.rot.q3
tframe.rot.q4
tload.mass
tload.cog.x
tload.cog.y
tload.cog.z
tload.aom.q1
tload.aom.q2
tload.aom.q3
tload.aom.q4
tload.ix
tload.iy
tload.iz
Continued
Unit
[mm]
None
[kg]
[mm]
None
2
[kgm ]
129