ABB IRC5 with FlexPendant, Руководство по эксплуатации

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The tool coordinate system
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The tool coordinate system has its zero position at the center point of the tool. It
thereby defines the position and orientation of the tool. The tool coordinate system
is often abbreviated TCPF (Tool Center Point Frame) and the center of the tool
coordinate system is abbreviated TCP (Tool Center Point).
It is the TCP the robot moves to the programmed positions, when executing
programs. This means that if you change the tool (and the tool coordinate system)
the robot’s movements will be changed so that the new TCP will reach the target.
All robots have a predefined tool coordinate system, called
tool0
, located at the
wrist of the robot. One or many new tool coordinate systems can then defined as
offsets from
tool0
.
When jogging a robot the tool coordinate system is useful when you don’t want to
change the orientation of the tool during the movement, for instance moving a saw
blade without bending it.
Examples of use
Use the tool coordinate system when you need to program or adjust operations
for threading, drilling, milling or sawing.
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Operating manual - IRC5 with FlexPendant 127
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
4 Jogging
4.2 Coordinate systems for jogging
Continued