SETUP Frames
Tool Frame Three Point 1/4 Frame Number: 1
X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: TOOL1 Approach point 1: RECORDED Approach point 2: RECORDED Approach point 3: UNINIT
Active TOOL $MNUTOOLNUM[G:1] = 1
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
d When all the reference points are taught, USED is displayed. The tool frame has been set.
SETUP Frames
Tool Frame Three Point 1/4 Frame Number: 1
X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: TOOL1 Approach point 1: USED Approach point 2: USED Approach point 3: USED
Active TOOL $MNUTOOLNUM[G:1] = 1
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
11 To move the robot to a recorded position, press and hold the SHIFT key and press F4, MOVE_TO.
12 To see each recorded position data, move the cursor to each reference position item and press the ENTER key. The position detail screen of each position data is displayed. To return to the previous screen, press the PREV key.
13 To display the tool frame list screen, press the PREV key. You can see the settings (x, y, z, and comment) for all tool frames.
SETUP Frames
Tool Frame / Three Point 1/10 X Y Z Comment 1 100.0 0.0 120.0 [TOOL1 ] 2 0.0 0.0 0.0 [ ] 3 0.0 0.0 0.0 [ ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ] 6 0.0 0.0 0.0 [ ] 7 0.0 0.0 0.0 [ ] 8 0.0 0.0 0.0 [ ] 9 0.0 0.0 0.0 [ ] 10 0.0 0.0 0.0 [ ] Active TOOL $MNUTOOLNUM [G:1] = 1
[ TYPE ] DETAIL [ OTHER ] CLEAR SETIND
14 To use the set tool frame as an effective tool frame now, press F5, SETIND.
CAUTION
1 If you do not press F5, SETIND, the tool frame will not be effective.
2 After all coordinate systems are set, the setting information should be saved in external storage in case the information needs to be re-loaded. Otherwise, the current setting information would be lost when it is changed.
NOTE
To select the number of a coordinate system to be used, the jog menu can also be used. See Subsection 5.2.3 ”Moving the Robot Jog Feed”.
15 To delete the data of the set frame, move the cursor to the desired frame and press F4, CLEAR.
Procedure 3-15 Setting Up Tool Frame Using the Six Point (XZ) Method
The procedure of Six Point (XZ) Method is explained here. In Six Point (XY) Method, “Z Direction Point”
is displayed as “Y Direction Point”, but the procedure is the same.
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Step
1 Display the tool frame list screen (Refer to the three point method).
SETUP Frames
2 Move the cursor to the tool frame number line you want to set.
3 Press F2, DETAIL. The tool frame setup screen of the selected frame number is displayed.
4 Press F2, METHOD.
5 Select Six Point (XZ). The tool frame setup / six point (XZ) screen is displayed.
Tool frame setup screen (Six Point (XZ) Method) SETUP Frames
6 Add a comment and teach the reference point. For details, refer to TCP auto set (Three Point Method).
a Press and hold the SHIFT key and press F5, RECORD to record the data of current position as the reference position. As for the taught reference point, RECORDED is displayed.
SETUP Frames
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
b When all the reference points are taught, USED is displayed. The tool frame has been set.
SETUP Frames
Tool Frame Six Point(XZ) 7/7 Frame Number: 2
X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: TOOL2
Approach point 1: USED Approach point 2: USED Approach point 3: USED Orient Origin Point: USED X Direction Point: USED Z Direction Point: USED Active TOOL $MNUTOOLNUMN[1] = 1
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
7 Press the PREV key. The tool frame list screen is displayed. You can see all the tool frame settings.
SETUP Frames
Tool Frame / Six Point(XZ) 2/10 X Y Z Comment 1 100.0 0.0 120.0 [TOOL1 ] 2 200.0 0.0 255.5 [TOOL2 ] 3 0.0 0.0 0.0 [ ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ] 6 0.0 0.0 0.0 [ ] 7 0.0 0.0 0.0 [ ] 8 0.0 0.0 0.0 [ ] 9 0.0 0.0 0.0 [ ] 10 0.0 0.0 0.0 [ ] Active TOOL $MNUTOOLNUM [G:1] = 1
[ TYPE ] DETAIL [ OTHER ] CLEAR SETIND
8 To make the set tool frame effective, press F5, SETIND, then enter the frame number.
CAUTION
1 If you do not press F5, SETIND, the tool frame will not be effective.
2 After all coordinate systems are set, the setting information should be saved in external storage in case the information needs to be re-loaded. Otherwise, the current setting information would be lost when it is changed.
NOTE
To select the number of a coordinate system to be used, the jog menu can also be used. See Subsection 5.2.3 ”Moving the Robot Jog Feed”.
9 To delete the data of the set frame, move the cursor to the desired frame and press F4, CLEAR.
Procedure 3-16 Setting Up Tool Frame Using the Direct List Method
Step
1 Display the tool frame list screen (Refer to the three point method).
B-83284EN/04
3. SETTING UP THE ROBOT SYSTEM
2 Move the cursor to the tool frame number line you want to set.
3 Press F2, DETAIL or press the ENTER key. The tool frame setup screen of the selected frame number is displayed.
4 Press F2, METHOD.
5 Select Direct Entry. Tool Frame Setup / Direct Entry screen is displayed.
Tool frame setup screen (Direct List Method) SETUP Frames
6 Add a comment. Refer to TCP auto set (Three Point Method) for details.
7 Enter the coordinate values of the tool frame.
a Move the cursor to each component.
b Enter a new numerical value by using numerical keys.
c Press the ENTER key. A new numerical value is set.
SETUP Frames
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
8 To display the tool frame list screen, press the PREV key. You can see the settings of all the tool frame.
SETUP Frames
Tool Frame / Direct Entry 3/10 X Y Z Comment 1 100.0 0.0 120.0 [TOOL1 ] 2 200.0 0.0 255.5 [TOOL2 ] 3 0.0 0.0 350.0 [TOOL3 ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ] 6 0.0 0.0 0.0 [ ] 7 0.0 0.0 0.0 [ ] 8 0.0 0.0 0.0 [ ] 9 0.0 0.0 0.0 [ ] 10 0.0 0.0 0.0 [ ] Active TOOL $MNUTOOLNUM [G:1] = 1
[ TYPE ] DETAIL [ OTHER ] CLEAR SETIND
9 To make the set tool frame effective, press F5, SETIND, then enter the frame number.
CAUTION
1 If you do not press F5, SETIND, the tool frame will not be effective.
2 After all coordinate systems are set, the setting information should be saved in external storage in case the information needs to be re-loaded. Otherwise, the current setting information would be lost when it is changed.
NOTE
To select the number of a coordinate system to be used, the jog menu can also be used. See Subsection 5.2.3 ”Moving the Robot Jog Feed”.
10 To delete the data of the set frame, move the cursor to the desired frame and press F4, CLEAR.
Procedure 3-17 Setting Up Tool Frame Using the Two Point + Z
Step
1 Display the tool frame list screen (Refer to the three point method).
SETUP Frames
Tool Frame / Direct Entry 4/10 X Y Z Comment 1 100.0 0.0 120.0 [TOOL1 ] 2 200.0 0.0 255.5 [TOOL2 ] 3 0.0 0.0 350.0 [TOOL3 ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ] 6 0.0 0.0 0.0 [ ] 7 0.0 0.0 0.0 [ ] 8 0.0 0.0 0.0 [ ] 9 0.0 0.0 0.0 [ ] 10 0.0 0.0 0.0 [ ] Active TOOL $MNUTOOLNUM [G:1] = 1
[ TYPE ] DETAIL [ OTHER ] CLEAR SETIND
2 Move the cursor to the tool frame number line you want to set.
3 Press F2, DETAIL. The tool frame setup screen of the selected frame number is displayed.
4 Press F2, METHOD.
5 Select Two Point + Z. The tool frame setup is displayed, and Z, W, P, and R contain present tool frame value.
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Tool frame setup screen (Two Point + Z) SETUP Frames
Tool Frame Two Point + Z 1/7 Frame Number: 4
X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: *********************
Approach point 1: UNINIT Approach point 2: UNINIT
Z: 0.000
W: 0.000
P: 0.000
R: 0.000
Active TOOL $MNUTOOLNUMN[1] = 1
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
6 Teach the approach point.
a Move the cursor to each approach point.
b Jog the robot to the position you want to record.
c Press and hold the SHIFT key and press F5, RECORD to record the data of current position as the reference position. As for the taught reference point, RECORDED is displayed.
SETUP Frames
Tool Frame Two Point + Z 2/7 Frame Number: 4
X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: TOOL4 Approach point 1: RECORDED Approach point 2: UNINIT
Z: 0.000
W: 0.000
P: 0.000
R: 0.000
Active TOOL $MNUTOOLNUMN[1] = 1
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
NOTE
• Set flanges upward or downward in case of teaching approach points. And, match the orientation of flanges of two approach points.
• Teach the approach point 1 and 2 at different locations.
• If input data is not applied to upper conditions, message “Invalid set of input points” is displayed on the coordinates screen.
7 After you input all approach points, approach points are changed to USED and the tool frame is calculated.
8 Measure Z value with a ruler, etc. and input Z value directly. Also, input W, P, and R value directly.
NOTE