Tool Settings | V3-manual

Tool Center Point

Rotate A degrees along the z axis of the flange coordinate.
Rotate B degrees along the y’ axis of the coordinate rotated according to 1).
Rotate C degrees along the z’’ axis of the coordinate rotated according to 2).

Here are a few examples of configuring the TCP according to the method described above:

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1	Lock toggle button
2	3D Simulation	This is where you can simulate the configured Tool Center Point.
3	Adding	This button allows you to add TCP.
4	Deleting	This button allows you to delete the selected TCP.
5	Save	This button allows the setting values to be saved.

When the settings are locked, the screen below is seen.

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At this time, the selected TCP is seen in blue as shown below.

Tool Weight

The tool weight can be measured using the auto measure function.

The activated tool weight Item can be set as the standard tool weight by pressing the set tool icon ( ) on the top of the teach pendant.

Up to fifty different tool weights can be registered.
In the case of M series, acceleration automatically adjustment function when the maximum tool weight exceeds the maximum tool weight.

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1	Lock toggle button
2	Adding	This button allows you to add a new Tool Weight.
3	Deleting	This button allows you to delete a Tool Weight.
4	Tool Weight List	A list of the configured Tool Weights.
5	Tool Weight Name	This is where you can enter a name for the Tool Weight.
6	Auto Measure Motion	This button allows you to run the automatic measurement.
7	Automatic Measurement	This button allows you to select an option and run an automatic measurement for it.
8	Motion Selection	You can select the desired Motion from the options.
9	Selection of the Use of Weight	You can choose whether to use weight. This selection box is disabled for E Series or A Series without FPT sensors.
10	Weight Input	This is where you can enter the desired weight.
11	Selection of the Use of Center of Gravity CX	The use of the center of gravity CX can be selected.
12	CX Input	CX can be entered.
13	Selection of the Use of Center of Gravity CY	The use of the center of gravity CY can be selected.
14	CY Input	CY can be entered.
15	Selection of the Use of Center of Gravity CZ	The use of the center of gravity CZ can be selected.
16	CZ Input	CZ can be entered.
17	Whether to Use Inertia	This checkbox allows you to choose whether to use inertia.
18	lxx Input	An lxx entry for inertia can be entered.
19	lyy Input	An lyy entry for inertia can be entered.
20	lzz Input	An lzz entry for inertia can be entered.
21	lxy Input	An lxy entry for inertia can be entered.
22	lyz Input	An lyz entry for inertia can be entered.
23	lzx Input	An lzx entry for inertia can be entered.
24	Save	This button allows you to save the setting values.

Tool Shape

The shape of the tool installed on the flange can be set by adding a tool shape.

Take caution as the zone the robot can maneuver will decrease if the tool shape is set too large.

Up to fifty different tool shapes can be registered.

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1	Lock toggle button
2	3D Simulation	This is where you can 3D Simulate the result of the configured Tool Shape.
3	Tool Shape Name	The name of the configured Tool.
4	Tool Shape Form	The shape of the configured Tool.
5	Editing Tool Shape	This button allows you to edit the configured Tool Shape.
6	Deleting Tool Shape	This button allows you to delete the selected Tool Shape.
7	Adding Tool Shape	A tool shape can be added.
8	Applying	This button allows you to apply the Tool Shape after setting it.

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1	Tool Shape	This indicates that this pane is a Tool Shape pop-up.
2	Entering a Name	This is a field where the name of the Tool Shape can be entered.
3	Cautionary Message	A note of caution when setting up
4	Add New Cuboid	This button allows you to add a cuboid.
5	Add New Sphere	This button allows you to add a sphere.
6	Add New Capsule	This button allows you to add a capsule.
7	Cancel	This button allows you to cancel the setting.
8	Confirm	This button allows you to confirm the setting.

Once the cube/sphere/capsule is added, the display is seen as below.

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