Tool | TCP | Frame | Base

Setting up Tools, TCP, Frame and a Base for the robot

Setting up Tool

To setup a tool click on the project name on the project explorer and go to "Template data" tab. In the tab right click on the "Template Group for Tools" and Insert new tool.

Image 1 : Insert New tool

Click on the newly created tool and in tool property window, under general information, change the name of the tool to something legible.

Image 2 : Naming tool

Next, under the Load data, enter the tool mass in kg. These are the physical properties of the tool. To define the geometric data of the tool right-click on the tool name and insert a new empty frame. This will act as the tool center point or a TCP.

Image 3 : Load data and frame

Similarly, click on the Frame and under its property give it a pertinent name and move to the Transformation tab.

Image 4 : TCP Name

Now, in the transformation tab, add the approximate transformation data with respect to the parent frame. This means the position and orientation and the Plane of TCP with respect to a base frame ( could be world XYZ as well).

Image 5 : TCP Transformation data

Setting up Base