ABB OmniCore S Series, Operating Manual

Page: 131 / 236

6.6.8 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.
1 On the start screen, tap Calibrate , and then select Tool from the menu.
2 Tap the tool you want to edit.
The Edit Tool dialog is displayed.
3 Tap Value .
The data that defines the tool appears.
4 Set robhold to Off (=FALSE).
5 Tap Save .
The selected tool is made stationery.
Make a work object robot held
This section describes how to make a work object robot held.
1 On the start screen, tap Calibrate , and then select Workobject from the
menu.
2 Tap the work object you want to edit.
The Edit Workobject dialog is displayed.
3 Tap Value .
The data that defines the work object appears.
4 Set robhold to On (=TRUE).
5 Tap Save to use the new setup, Cancel to leave the work object unchanged.
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.
Continues on next page
Operating manual - OmniCore 131
3HAC065036-001 Revision: E
© Copyright 20192020 ABB. All rights reserved.
6 Programming and testing
6.6.8 Setup for stationary tools