Switching Tool Frames maintaining robot physical joint position

This procedure is use to change tool frame number to a section or all of a program points maintaining robot joints positions. If old and new tool frame are the same, TCP position along the robot path won’t change.

You will find a downloadable PDF icon PDF version at the end of this page.

  • DURATION

+/- 15 minutes

  • RECOMMENDATION

Create a backup before making any modifications to your program.

  • WARNING!

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

  • DANGER

N/A

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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)
  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 arrow, SCROLL DOWN TO –> The 3rd line
  16. Enter the line number where 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)
  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 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 3rd line.
  30. PRESS –> [ F4 ] [ CHOICE ]
  31. SELECT –> [ 2 ] 2 Robot Fixed (This convert type will keep the position of the face plate of joint 6 of the robot where it is for each of the targeted points. It will change the tool frame number. If both old and new frames are identical, then the TCP positions along the taught path won’t change.) 
  32. PRESS –> [ F2 ] EXECUTE (see screenshot)
  33. PRESS –> [ F4 ] YES
  34. You can also delete line 4 to 8 and change UTOOL_NUM from 1 to 5.

Tutorial – Switching Tool frames maintaining robot physical joint position.pdf

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