ABB IRC5 with FlexPendant, Руководство по эксплуатации

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5.5.4 Defining the tool frame
Preparations
To define the tool frame, you first need a reference point in the world coordinate
system. If you need to set the tool center point orientation, you also need to affix
elongators to the tool.
You also need to decide which method to use for the tool frame definition.
Available methods
There are three different methods which can be used when defining the tool frame.
All three require that you define the cartesian coordinates of the tool center point.
What differs is how the orientation is defined.
...then select If you want to...
TCP (default orient.) set the orientation the same as the orientation
of the robot’s mounting plate
TCP&Z set the orientation in Z axis
TCP&Z,X set the orientation in X and Z axes
How to select a method
This procedure describes how to select the method to be used when defining the
tool frame.
Action
On the ABB menu, tap Jogging . 1
Tap Tool to display a list of available tools. 2
Select the tool you want to define. 3
In the Edit menu, tap Define 4
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180 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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5 Programming and testing
5.5.4 Defining the tool frame