ABB IRC5 with FlexPendant, Operating Manual

Page: 190 / 306

Set up the tool coordinate system
You use the same measurement methods to set up a stationary tool coordinate
system as with tools mounted on the robot.
The world reference tip must, in this case, be attached to the robot. Define and
use a tool with the reference tip’s measurements when you create approach points.
You also need to attach elongators to the stationary tool if you need to set up the
orientation.
You should enter the reference tip’s tool definition manually to minimize errors
when calculating the stationary tool’s coordinate system.
You may enter the stationary tool’s definition manually.
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190 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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5 Programming and testing
5.5.8 Setup for stationary tools
Continued