Tool Position Restriction

Description

The Tool Position screen enables more controlled restriction of tools and/or accessories placed on the end of the robot arm.

  • Robot is where you can visualize your modifications.

  • Tool is where you can define and configure a tool up to two tools.

  • Tool_1 is the default tool defined with values x=0.0, y= 0.0, z=0.0 and radius=0.0. These values represent the robot tool flange.

Under Copy TCP, you can also select Tool Flange and cause the tool values to go back to 0.

A default sphere is defined at the tool flange.

 
User defined tools

For the user defined tools, the user can change:

  • Radius to change the radius of the tool sphere. The radius is considered when using safety planes. When a point in the sphere passes a reduced mode trigger plane, the robot switches to Reduced mode. The safety system prevents any point on the sphere from passing a safety plane (see Software Safety Restrictions).

  • Position to change the position of the tool with respect to the tool flange of the robot. The position is considered for the safety functions for tool speed, tool force, stopping distance and safety planes.

You can use an existing Tool Center Point as a base for defining new tool positions. A copy of the existing TCP, predefined in General menu, in TCP screen, can be accessed in Tool Position menu, in Copy TCP drop-down list.
When you edit or adjust the values in the Edit Position input fields, the name of the TCP visible in the drop down menu changes to custom, indicating that there is a difference between the copied TCP and the actual limit input. The original TCP is still available in the drop down list and can be selected again to change the values back to the original position. The selection in the copy TCP drop down menu does not affect the tool name.
Once you apply your Tool Position screen changes, if you try to modify the copied TCP in the TCP configuration screen, a warning icon appears to the right of the Copy TCP text. This indicates that the TCP is out of sync i.e. the information in the properties field is not updated to reflect modifications that may have been made to the TCP. The TCP can be synced by pressing the sync icon (see ).

The TCP does not have to be synced in order to define and use a tool successfully.
You can rename the tool by pressing the pencil tab next to the displayed tool name. You can also determine the Radius with an allowed range of 0-300 mm. The limit appears in the graphics pane as either a point or a sphere depending on radius size.

 
Tool Position Warning

You must set a Tool Position within the safety settings, for the safety plane to trigger correctly when the tool TCP approaches the safety plane.

The warning remains on the Tool Position if:

  • You fail to add a new tool under Tool Flange.

To configure the tool position

  1. In the Header tap Installation.

  2. On the left side of the screen, under Safety, tap Tool Position.

  3. On the right side of the screen, select Add Tool.

    • The newly added tool has a default name: Tool_x.

  4. Tap the edit button to rename Tool_x to something more identifiable.

  5. Edit the Radius and Position to match that of the tool you are currently using, or use the Copy TCP drop-down and choose a TCP from the General>TCP settings if such is defined.
Tool Position Warning example

In this example, a Radius of 0.8mm is set and the TCP position to XYZ [20, 0, 400] in millimeters respectively. Optionally you can choose to ”Copy TCP” by using the drop-down menu if one has already been set in the ->General/TCP settings. Once the Apply is tapped in the bottom right corner of the screen, you are DONE.

 

The warning on the Tool Position button indicates a tool is not added under Tool Flange.

Tool Position button without the warning indicates a tool (other than the Tool Flange) is added.