Switching Tool Frames maintaining the same TCP position but changing robot physical joint position

SWITCHING TOOL FRAMES MAINTAINING THE SAME TCP POSITION BUT CHANGING ROBOT PHYSICAL JOINT POSITION

This procedure is use to change tool frame number to a section or all of a program points without affecting TCP positions along the taught robot path.

 

(You will find a downloadable  mceclip3.png PDF version at the end mceclip5.png of this page .)

 

 DURATION

+/- 15 minutes

  RECOMMENDATION  

Create a backup before making any modifications.

  WARNING!  

Make sure to have correctly teach the new tool proceeding to the tool offset.

 

VIDEO TUTORIAL

 

STEP BY STEP

      1. PRESS --> [ SELECT ]
      2. Choose the program you want to make tool frame reference changes.
      3. PRESS --> [ ENTER ]
      4. PRESS --> [ MENU ]
      5. SELECT --> [ 1 ] 1 UTILITIES
      6. SELECT --> [ 8 ] 8 Tool Offset (see screenshot mceclip1.png)
      7. PRESS --> [ F4 ] [ CHOICE ]
      8. Select the program in which the changes have to be made.
      9. PRESS --> [ ENTER ]
      10. Using Arrow --> Scroll down on the 2nd line. 
      11. PRESS --> [ F4 ] [PART]
      12. Using Arrow --> Scroll down on the 3rd line. 
      13. ENTER --> The number where the changes should start
      14. PRESS --> [ ENTER ]
      15. Using Arrows, SCROLL DOWN to the --> The 4th line
      16. ENTER --> The line number where the changes should end.
      17. Using Arrow --> Scroll down on the 5th line. 
      18. ENTER --> A new program name (or keep the same one.)
      19. PRESS --> [ ENTER ]
      20. Using Arrow --> Scroll down on the 6th line. 
      21. If you kept the same program name, enter a program line number where the lines with the switched tool frames will be copied. If you have changed the program name the step before, no “insert line” will be asked.
      22. PRESS --> [ ENTER ] (if you have entered an “insert line” number) (see screenshot mceclip1.png)
      23. Using Arrow --> Scroll down until the next page appear. 
      24. ENTER -- > Old tool frame number (the frame number on which the points where reference to)
      25. PRESS --> [ ENTER ]
      26. Using Arrow --> Scroll down on the 2nd line.
      27. ENTER --> New tool frame number (the tool frame number on which the points on which you want to reference them to).
      28. PRESS --> [ ENTER ]
      29. Using Arrow --> Scroll down on the 3rd line. (see screenshot mceclip1.png)
      30. PRESS --> [ F4 ] [ CHOICE ]
      31. SELECT --> [ 1 ] 1 TCP Fixed (This convert type will keep the position of the TCP (Tool center point) where it is for each of the targeted points, but will change the face plate position of joint 6 according to the new tool to maintain TCP position along the path)
      32. PRESS --> [ F2 ] EXECUTE
      33. PRESS --> [ F4 ] YES
      34. You can also delete P[1] to P[5] and changed UTOOL_NUM from 1 to 3.
      35. DELETE --> line 4 to 9.

 

 PDF_3.png

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