ABB IRC5 with FlexPendant, Operating Manual

Page: 189 / 306

5.5.8 Setup for stationary tools
Stationary tools
Stationary tools are used, for instance, in applications that involve large machines
such as cutters, presses and punch cutters. You may use stationary tools to perform
any operation that would be difficult or inconvenient to perform with the tool on
the robot.
With stationary tools, the robot holds the work object.
Make a tool stationary
This section describes how to make a tool stationery.
Action
On the ABB menu, tap Jogging . 1
Tap Tool to display the list of available tools. 2
Tap the tool you want to edit, then tap Edit .
A menu appears.
3
In the menu, tap Change value .
The data that defines the tool appears.
4
Tap the instance
robhold
. 5
Tap FALSE to make this tool stationary. 6
Tap OK to use the new setup, Cancel to leave the tool unchanged. 7
Make a work object robot held
This section describes how to make a work object robot held.
Action
In the Jogging window, tap Work object to display the list of available work objects. 1
Tap the work object you want to edit, then tap Edit .
A menu appears.
2
In the menu, tap Change value .
The data that defines the work object appears.
3
Tap the instance
robhold
. 4
Tap TRUE to indicate that this work object is held by the robot. 5
Tap OK to use the new setup, Cancel to leave the work object unchanged. 6
Differences in coordinate system referencing
This section describes differences in coordinate system referencing.
...but now references the... ...normally references the... The...
user coordinate system (no
change) user coordinate system work object coordinate sys-
tem
robot’s mounting plate world coordinate system user coordinate system
world coordinate system robot’s mounting plate tool coordinate system
Continues on next page
Operating manual - IRC5 with FlexPendant 189
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.5.8 Setup for stationary tools