2 Manipulator Coordinate Systems and Operations
2.4 Coordinate Frames and Manipulator Jogging
2-16
HW1485509
HW1485509
In tool coordinates, the manipulator can be moved using the effective tool
direction as a reference, regardless of the manipulator’s position or
orientation. These motions are best suited for moving the manipulator
parallel to the tool frame while maintaining tool orientation with respect to
the workpiece.
2.4.4.1 Selecting Tool
Tool numbers are allocated to tools. When two or more tools are used in
the system, each tool is allocated a tool number. User can then select the
desired tool number from tools.
1. Select {XYZ -Tool} for Jogging Mode.
2. Select desired tool number.
For more information on the tool setting, refer to chapter 6.1 “Tool
Settings”.
To use the tool frame, the tool file must be registered in
advance. For further details, refer to chapter 6.1 “Tool
Settings”.
To Next Page
Loading...
