tool data setting

[doublewai]

hi,

in the manual, after setting up the tool coordinate, it needs to be matched to flange coordinate.
why is it necessary???

[Fabian Munoz]

Hello doublewai

Can you tell us which manual ?
Can you describe a little bit more your application ?

somar

[doublewai]

it's nx100 w/ operator's manual for spot welding using motor gun.

ch. 10.9 tool data setting.

after setting a tool coordinate, need to register tool angle.

is there certain direction to be set or is it flexible??

for spot gun, z+ is important but the other x and y axes,too?  or is it negligible??

[robs]

              As you might be knowing that you can set tool data by directly entering the values for x,y,z,w,p,r from the gun drawing or by calibration.When you are setting tool data by calibration by recording five different points, only x,y,z values are registered and not w,p,r values. You need to enter them manually. This is what your manual describes.
               Normally the w,p,r orientations are user defined based on his convenience.However some companies have their own standards for defining the tcp orientations.

Hope this might be useful.Keep us updated.

Thanks. 
               

[95devils]

On servo motor spot gun, the z is very important if using tip wear compensation.  Rx and Ry are flexible.  I, although, take the robot to the mechanical home position, where all pulse counts are 0.  Depending on what bolt holes are used to mount the gun, I may need to put in rotate-about values.  If the centerline of the gun doesn't match the centerline of the robot I need angles in the tool data.  I grab a digital level to tell me the angles required.  I want the gun to move parallel to the base of the robot when I am jogging in tool using the Y+ and Y- keys.

The controller uses the tool data to calculate the path of tool in any motion type except MOVJ.
The correct rotate-about values makes jogging easier in anything but joint.