I am changing the tooling arm on a Kawasaki model ZZX165U and have a few questions. I will be keeping the tool on the robot but will be changing the tooling arm attached to the faceplate on joint 6. The new tooling arm will be different dimensions. I plan on inputting the new dimensions for the arm into a new tool id for the robot. Then using that new tool id for the robot programs, changing it in the programs to reflect the new tool #. Is this the only value that needs to be changed or am I missing anything. Any help would be greatly appreciated. Thank you.
Changing tooling arm
- Jerryl859
- Thread is Unresolved
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What do you mean by Tool ID?
How are you defining/using the Tool - using BLOCK programming or AS Programming
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What do you mean by Tool ID?
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Look at TOOL command in AS Language for proper use.
This is command for changing tool transformation applied to flange centre point.
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You have a number of options using TOOL command 2 simple ones below:
1. Create a transformation location (not the dimensions of your tool, but the dimensions reference left hand rule relative to TOOL NULL Coordinates)
- POINT new_tool = TRANS(0,0,100,0,0,0); create the transform
- TOOL new_tool; Select the new tool
2. Apply the transformation values directly (not the dimensions of your tool, but the dimensions reference left hand rule relative to TOOL NULL Coordinates)
- TOOL NULL+TRANS(0,0,100,0,0,0)
- This method does not store the values anywhere, so cannot be recalled.....if you wish to store values, use option 1.
Hope this helps...........
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If your TCP values you are using are accurate, you should not have to touch any points up (within a certain tolerance at least).
Creating positions using 1 tool (which is accurate) and then using another tool (which is inaccurate), will introduce the inaccuracy when using it.
So yes, if you can ensure ALL tool transforms are as accurate as possible, then all transformation motion locations will be applied to the new tool values.
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