Chapter 7 Setting Robots
76
Warning
If the TCP profile is incorrectly entered, accidents such as collision and jamming
may occur while operating the robot and the robot may operate incorrectly while
using the direct teaching function. In addition, as the singularity of the robot arm
may vary depending on the TCP, the program previously prepared may not work or
the robot arm may not operate as expected. Make sure to enter the correct value
according to the TCP type before operating the robot.
Creating a new TCP profile
1.
Press the
Add
button.
2.
Enter the new TCP name and press the
OK
button.
You may enter up to 25 characters. Special characters other than '-' and '_' are
not allowed.
3.
Enter the TCP information.
Position
: Enter the coordinate values (X, Y, Z) with respect to the center of the
cross section of the location where a tool is mounted. The unit is in mm.
Orientation
: Set the tool direction (Rx, Ry, Rz).
Center of Gravity
: Set the center of weight for a tool.
-
Check the checkbox to enable the option.
-
If you do not use the option, all the values are set to zero.
-
Min:-700, max: 700, The unit is in mm.
Summary of Contents for HCR-5
Page 1: ...HCR 5 Collaborative Robot User Manual Aug 2019 V 2 001 ...
Page 2: ......
Page 14: ......
Page 96: ...Chapter 8 Safety Settings 96 ...
Page 101: ...Chapter 8 Safety Settings 101 3 Press the OK button ...
Page 188: ...Chapter 15 Maintenance 188 4 When the confirmation window appears press YES ...
Page 192: ...192 Appendix B Certification Safety ...
Page 193: ...193 ...
Page 194: ...194 MD Machinery Directive ...
Page 195: ...195 LVD Low Voltage Directive ...
Page 196: ...196 EMC Electro Magnetic Compatibility ...
Page 197: ...197 Cleanroom Body ...
Page 198: ...198 Cleanroom Controller ...
Page 199: ...199 Appendix C Dimensions for Installation ...
Page 205: ......