Default tool direction

    Hey guys,

    I have a basic question about the default tool direction. I am a bit confused and don't really understand the purpose of $TOOL_DIRECTION. I have a KR10 R900 robot and by default the $TOOL_DIRECTION variable is set to #X. The Z axis points out of the flange and if I create a tool with A,B,C all 0, the tool direction is the same as of the flange coordinate system.

    So far, so good. But if I change $TOOL_DIRECTION from #X to #Z, I can see no difference when I jog the robot around.

    Can somebody tell me the purpose of $TOOL_DIRECTION?

    Thanks

    Daniel

    $TOOL_DIRECTION may be changed if you wish before to make a tool calibration, for example, tool 1 with ABC 2-point method.

    Change #X for #Z and perform this calibration of your tool 1, then the ABC of tool 1 will probably be not all 0, but you will see the difference during the jogging with selected tool 1.

    Quote from DS186

    Can somebody tell me the purpose of $TOOL_DIRECTION?

    For welding you want the z-axis for moving along a path and the x-axis for going up or down. In this case the $TOOL_DIRECTION would be #x (as I remember)

    The best way: show how the tool is actually mounted on the flange and which direction you want to use going forward and up or down

    You also should tell us the software version you are using (krc2 does not say anything)

    Hey MOM,

    Thanks for the info. I have a KR C5 micro with KSS 8.7. Unfortunately I have no picture or drawing at the moment. It is basically a simple gripper attached to the flange with a TCP along the flange Z+ axis. All the other values are 0.

    I was just wondering that changing $TOOL_DIRECTION from #X to #Z didn't change the behavior when jogging the robot with that tool coordinate system.

Advertising from our partners