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View the Frames List
The Tool Frames tab contains a list of tool frames. The name of the frame is set when the frame is created but may be edited later. A An optional description field is optional, and provides a location for a more detailed description of the frame’s intended use. A You can select a tool model can be selected from a list of Tormach-configured models either when the frame is created or afterwards by clicking into the appropriate cell in the tool model Tool Model column. Following the tool model column are the 3 cartesian offsets (X, Y, Z) and the 3 rotation (Euler) angles (A, B, C). All fields in the offsets list are user editibleeditable. To edit a field, click into the field. Use the mouse or the arrow keys to navigate within a cell.
Buttons
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Create a New Tool Frame
Select Add Offset to create a new tool frame. A popup allows the user to In the window that displays, name the new frame , then offers the use a choice of and select a tool model. The tool model selection allows the user to choose Tormach-configured tools, which will appear in the robot visualization, and can . To use the pre-configured frame offset values :
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Leave the “Apply Default Offset” checkbox marked to use the pre-configured offsets for that tool.
Note: creating for that tool, leave the Apply Default Offset checkbox selected.
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Note: Creating a new frame does not automatically apply that frame
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. You must apply a tool frame
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either by selecting the frame in the
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Tool Frame drop-down menu on the “Position Status Readout” group of the persistent controls, or
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use the change_tool_offset() command in a robot program.
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Remove the Currently Selected Tool Frame
Select Remove Offset to remove the currently selected tool frame.“Update Offset Using Wizard” will being
Start a 4-Point Tool Frame Teach Wizard
Select Update Offset Using Wizard to start a 4-point tool frame teach wizard. The 4-point methods of teaching a tool frame involve jogging the robot so that the tool just makes contact with a reference point from several different (preferably orthogonal) directions. Use of this wizard is covered in the following quick tip video:FIXME - quick tip video. Watch the following video to learn more about use of this wizard.
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