Tool Frame Lab: Difference between revisions
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At the bottom of the screen, find and hit the softkey “DETAIL”.
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|[[File:Frame method menu.png|thumb]]
|<nowiki>The method that appears may not be our desired Three-Point Method. To change methods, hit the softkey |METHOD| and select “Three Point”.</nowiki>
The Details page for your selected Tool Frame will appear.
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Example: MREJanuary
'''What did you name your Tool Frame? ________________________'''
Note: Use Alphanumeric characters and start with a letter.
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|[[File:Named Uninit 3 Point.png|thumb]]
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|Notice the name you gave it shows up in the Comment Field.
Notice each Approach Point contains UNINIT. This means no
Select Approach point 1.
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Jog the robot so that the center of the robot’s tool touches the teaching object. Align it as best you can without disturbing the object.▼
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|[[File:Approach Point 1.png|thumb]]
▲|Jog the robot so that the center of the robot’s tool touches
Holding SHIFT, hit the soft key RECORD.
Jog the robot’s tool away from the teaching object so
Select Approach point 2.
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Jog in Yaw, Pitch, and Roll to move the robot’s tool to a significantly different orientation, such as pictured.▼
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|[[File:Approach Point 2.png|thumb]]
▲|Jog in Yaw, Pitch, and Roll to move the robot’s tool to a
Jog in X, Y, and Z to once again touch the center of the
Hold SHIFT and press the softkey RECORD.
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|[[File:Approach Point 3.png|thumb]]
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|Jog the robot’s tool away from the teaching object so that there is no risk of bumping it.
Select Approach point 3.
Jog again in Yaw, Pitch, and Roll to move the robot’s tool
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|With all 3 of the approach points taught, the robot will calculate the position of the tool’s center relative to the center of the tool plate. This information will be displayed at the top.▼
▲With all 3 of the approach points taught, the robot will calculate the position of the tool’s center relative to the center of the tool plate. This information will be displayed at the top.
Confirm your tool frame is correctly configured by moving the robot into an empty area of its envelope and jogging around in Yaw, Pitch, and Roll. If correctly taught, jogging in orientation will result in no translational movement whatsoever.
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