Tool Frame Lab: Difference between revisions
→What is a Tool Frame?
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== '''What is a Tool Frame?''' ==
The robot is a collection of axes that each have a
By default, FANUC robots calculate position in the real world by the center of the plate on the end of the last actuator. When you attach a tool, you must tell the robot where the effective end of the tool is, relative to the tool center plate.
This can be done through direct entry of measurements taken from the TCP but the FANUC software includes useful utilities for automatically calculating a new tool center point
'''Frames:'''
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|Tool
|Where the center
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|[[User Frame Lab|User]]
|Where the work
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<br />
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The three-point method for tool frames is to teach the positional data of the effective end of the tool. This does not teach the orientation, but for many uses is sufficient.
{| class="wikitable"
|[[File:MenuSetup.png|thumb|alt=]]
|Start by opening the menu with the MENU button on the keypad.
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<br />
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|[[File:SETUPFRAMES.png
|The SETUP Frames page will be displayed, but depending on which frame was last edited, may not yet be on Tool Frames.
The image on the left shows that User Frame is selected. We want to switch to Tool Frame.
<br />
|-▼
|[[File:Tool.png|thumb]]
|<nowiki>Open the menu for selecting frame types by hitting the |OTHER| softkey.</nowiki>
Select the first option, "Tool Frame".
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|[[File:Frame method menu.png|thumb]]
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Jog again in Yaw, Pitch, and Roll to move the robot’s tool to a different orientation. Ensure you are not 180 degrees from either previous point you have taught. Jog in X, Y, and Z to once again touch the center of the tool with the teaching object.
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|[[File:Tool finished.png|thumb]]
▲|
|With all 3 of the approach points taught, the robot will
Confirm your tool frame is correctly configured by moving the robot into an empty area of its envelope and jogging around in Yaw,
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{| class="wikitable"
|-
|[[File:Zeroed_Calipers_On_Tool.png|thumb]]
|▼
|We start by taking a measurement from a known fixed point to our previously taught tool tip. Since these are digital calipers, we need only take it to that point and then zero it out. This creates a reference point we can measure from.
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|[[File:Caliper on Suction Cup.jpg|thumb]]
|▼
|Once it is zeroed out, we add our suction cup. This cup sticks out a bit from the original brass piece by 4.9mm, as shown in the image.
'''What was your measured difference? ___________'''
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|[[File:Flat cup dim guide22.gif|thumb]]
|The useful end of the suction cup is actually about 1mm inside the cup, as it should be pressed down on the object slightly to make proper contact for negative pressure to develop. We take the 4.9mm measured, subtract the 1mm from it and get 3.9mm for our changes.
What does your tool frame show as the Z value of the original tool? _____________
Add your calculated value to the original tool's Z distance. What is the new value? ______________
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|[[File:Tool manual.png|thumb]]
|Select the Z value on screen and enter the new number you have come up with. Press enter to submit the change.<br />
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