Nachi EZ-CFDL Series - Page 26

3.5 Tool constant settings
3
As per the guide picture, visually align the upward direction of the tool with the
Z (up) direction of the robot and
its forward direction with the X
(forward)
direction of the robot.
(Example)
4
Press the <Execute> key.
5
The tool angle is
calculated form the posture, and the result is
displayed.
The angle of rotation is now
calculated so that the tool upw
ard direction in the
tool coordinate system is set to
the Z (up) direction and its
forward direction is
set to the X (forward) direction.
If this is satisfactory, select [Yes] on the pop-up window, and press the [Enter]
key.
>>At this stage, only the display is updated, and the data is not yet stored in the
constant file.
To set the value accurately, it is also possible to re-enter the value of 180.0 manually
instead of 179.4 for
example.
6
Upon completion of the settings, press the
<Complete> key. The settings are
now saved in the constant file.
>>Operation returns to the machine constant menu screen.
7
Upon completion of the settings, check them. Exit the constant menu and, in
the teach mode, select the
tool coordinates and try performing manual
operations.
If the tool is now moved in the up/down direction by the Z key and in the
front/back
direction by the X key, then
the tool angle
has been set successfully.
Machine coordinate
system
+Y
+X
+Z
+Y
+X
+Z
Tool coordinate
system
Parallel