Automatic tool registration

[ddenis]

Folks,

Gotta question. I'm trying to register a tool (actually it's not a real one but a simple fixture so that I could get how it works). So, I activated function 0405 and jogged the robot to set postures (A1-A4). But when I tried to jog the robot in tool coordinates, the angles of the fixture's movement differed from the angles of base coordinate system. Guys, do you know what I've done wrong?

Thanks!

[roboperson]

That very well may be correct depending on the postion of the tool. Maybe I am miss understanding the questions, but I believe it may be right?
In base mode the robot will move in carteasian coordinates (X,Y,Z ) in reference to the center of the base of the robot. So, Y+ would move away from the robot in a straight line, X+ to the right in a straight line, Z + up in a straight line holding the postion of the end of arm tool so that it will move on the desired plane.
When using tool mode, the robot will move the end of arm tooling in reference to the postion of the end of arm too. This being said, if your end of arm tooling is at a 45 degree agle facing the floor, and you did a Z-, instead of it going down on a straight plane, it would pull back towards the ceiling in a straight plane in the same angle alignment that the tool is in.

I dont know if my explanation makes sense? But is this how it seems to be moving?

[ddenis]

Hi roboperson,

Your explanation does make sense! The thing is that when I bolted the tool and set JT6 to zero value the tool's end was at about 45 degree to the floor. Actually, I thought it didn't matter. But now I see the cause of such movement. Thanks a bunch!

Regards,

ddenis