ABB IRC5 with FlexPendant, Operating Manual

Page: 136 / 306

4.6.4 Setting the tool orientation
Examples of use
Tools for arc welding, grinding and dispensing must be oriented in a particular
angle to the work piece to obtain the best result. You also need to set up the angle
for drilling, milling or sawing.
In most cases you set the tool orientation when you have jogged the tool center
point to a specific position such as the starting point for a tool operation. After you
have set the tool orientation you continue to jog in linear motion to complete the
path and the supposed operation.
Definition of tool orientation
The tool orientation is relative to the currently selected coordinate system. From
a user perspective however this is not noticeable.
Setting the tool orientation
Action
On the ABB menu, tap Jogging . 1
Tap Motion Mode , then tap Reorient followed by OK . 2
If not already selected, select the proper tool by following the procedure in Selecting
tool, work object, and payload on page 135 .
3
Press and hold the three-position enabling device to activate the mechanical unit's
motors. 4
Move the joystick and the tool's orientation changes.
Tip
Use the QuickSet menu to select jogging mode faster.
136 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
4 Jogging
4.6.4 Setting the tool orientation