6 Robot Settings
6.1 Tool Settings
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6.1.4 Tool Frame
6.1.4.1 Tool Center Point
The Tool Center Point is the offset of the Tool’s Tip from the tool flange.
Most simple tools will only have offsets in the XYZ direction; however,
rotational offsets can also be set (see chapter 6.1.4.2 “Orientation of Tool
Tip”). Configuring the Tool Center Point will allow Cartesian jogging of the
manipulator about the correct point and will also ensure the Taught
Positions have the correct offset from the Manipulator base.
Enter this data as provided by the tool manufacturer or from an accurate
CAD model. In the absence of this information, the TCP coordinates can
be calculated using the TCP Calibration feature described in
chapter 6.1.4.3.
Fig. 6-12: Tool Center Point
6.1.4.2 Orientation of Tool Tip
The orientation of tool tip is the rotation of the TCP from the tool flange.
The rotation of the tool is input in degrees. Enter this data as provided by
the tool manufacturer or from an accurate CAD model. In the absence of
this information, the tool's orientation can be accurately calculated using
the TCP Calibration feature described in chapter 6.1.4.3.
Fig. 6-13: Orientation of Tool Tip
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