The teach pendant shim (TP Shim) utility allows you to adjust individual positions of a teach pendant by a small amount in either the x, y, or z direction. It also allows you to track those adjustments and recall shims already applied to that position using the History screen. You can shim positions in one group or positions in multiple groups. The teach pendant shim varies from the Program Adjust Utility in that Program Adjust moves multiple positions in a program while the shim moves only one. Also, Program Adjust does not allow you to track previous adjustments.
Table 1. Teach Pendant Shim Screen Items and Function Keys
ITEM | DESCRIPTION |
---|---|
Group |
This item indicates the number of the current robot group, or ALL if the shim will be applied to multiple groups. |
Program |
This item indicates the name of the program to which the shim will be applied. |
Position # |
This item indicates the current position that will be shimmed. |
Shim# default: 10 min: 1 max: 100 |
This item indicates the number of shims that apply to the current position. |
Units units: mm or inches |
This item indicates the unit of measurement that is displayed for each shim. |
Shim default: 9.9 mm min: 00 range: +/-9.9 |
This item indicates the value, in x, y, and z, that the shim will be adjusted. This item cannot be changed from this screen. You must use the HISTORY screen to change this item. |
CURRENT |
This item indicates the current x, y, and z value of the actual position. After you press F2, APPLY, this value will change to reflect the shim amount. |
MASTER |
This item indicates the original x, y, and z value of the position before any shims were applied. |
APPLY [F2] |
This key applies the shim to the current position. |
USEMAST [F3] |
The key restores the original taught point. The $FX_DELSHM_EN system variable default is TRUE. When you press F3, USEMAST all the shim data is cleared. If you set $FX_DELSHM_EN to FALSE, the shim data will stay at "Where"? |
CHOICE [F4] |
This key allows you to select groups and programs. |
HELP [F5] |
This key displays the HELP text. |
NEXT |
This key displays the next page of the function keys. |
You can apply previous shims to the current position from the the Shim History screen.
The Shim History screen displays the items in Table 2, "Shim History Screen Items " and allows you to perform the operations in Table 3, "Shim History Screen Operations " .
Table 2. Shim History Screen Items
FUNCTION KEY | DESCRIPTION |
Shim default: 9.9 mm min: 00 range: +/-9.9 |
This item indicates the value, in x, y, and z, that the shim will be adjusted. This item can be adjusted to display a previously recorded shim. |
Total |
This item indicates the total number of shim values applied to the original position. After you press F2, APPLY, the Current value becomes the same as Total. |
Table 3. Shim History Screen Operations
FUNCTION KEY | DESCRIPTION |
[TYPE] |
Press this key to access various application-specific options. |
APPLY |
Press this key to apply the shim to the current position. |
USEMAST |
Press this key to restore the original taught point. The $FX_DELSHM_EN system variable default is TRUE. When you press F3, USEMAST all the shim data is cleared. |
PRSHIM |
Press this key to display the previous shim. |
NXSHIM |
Press this key to display the next shim. |
[CHOICE] |
Press this key to display a selection of items. |
MM/INCHES |
Press this key to change the current unit measurements. |
SHIM |
Press this key to display the Shim Utility screen. |