TOOL OFFSET SCREEN


TOOL OFFSET SCREEN

You can change the tool coordinate system number and positional data from the TOOL OFFSET screen.

Table 1.  Tool Offset Screen Items

ITEM DESCRIPTION

Program Name Setting Screen

Original Program

This item indicates the name of the program that will be offset or shifted.

Range

This item specifies the portion of the program that will be offset or shifted:
  • WHOLE - offsets or shifts the entire program

  • PART - offsets or shifts part of the program

Start line

This item is not used when Range is set to WHOLE.

End line

This item is not used when Range is set to WHOLE.

New Program

This item is the name of the program that results when you offset or shift the Original Program. If you want the resulting offset or shifted program to replace the Original Program, make the New Program name the same as the Original Program name.

Insert line

This item is used only when all of the following conditions exist:
  • You have not entered a name for the new program, in which case the data conversion will be performed on the currently selected program, or you have entered the name of a program that already exists for the New Program name.

  • You have selected the Robot Fixed method as the data conversion type.

  • You have executed the data conversion

Coordinate System Number Setting Screen

Old UTOOL Number

This item is the number of the UTOOL that was used when the positions in the Original Program were recorded.

New UTOOL Number

This item is the number of the UTOOL that will be used to offset or shift the program. You must have defined this UTOOL prior to using it.

Convert Type

This item specifies the kind of positional data conversion that will be performed during the offset or shift:
  • TCP fixed - The TCP is maintained during conversion. This means that robot joint positions will change, but Cartesian positions will be fixed. TCP fixed mode can be used, for example, when a damaged hand has been replaced. Specify the tool coordinate system number of the damaged hand for Old UTOOL number and the tool coordinate system number of the replacement hand for New UTOOL number. Then, execute the tool change or shift in TCP fixed mode. The result will be that the TCP of the new tool will move to the originally taught position.

  • Robot fixed - The robot joint positions are maintained during conversion. Robot fixed mode can be used, for example, when a program has been taught using a tool coordinate system other than that for the mounted hand, after which the tool coordinates have been corrected. Specify the tool coordinate system number used when the program was taught for Old UTOOL number and the corrected tool coordinate system number for New UTOOL number. Then, execute the tool change or shift in Robot fixed mode. The program is modified so that the robot moves according to the corrected tool coordinate system, without changing the resultant robot movement.