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 description field is optional, and provides a location for a more detailed description of the frame’s intended use. 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 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 editible. To edit a field, click into the field. Use the mouse or the arrow keys to navigate within a cell.
Buttons
“Add Offset” allows the user to create a new tool frame. A popup allows the user to name the new frame, then offers the use a choice of tool model. The tool model selection allows the user to choose Tormach-configured tools, which will appear in the robot visualization, and can use pre-configured frame offset values:
Leave the “Apply Default Offset” checkbox marked to use the pre-configured offsets for that tool.
Note: creating a new frame does not automatically apply that frame - applying a tool frame is done either by selecting the frame in the “Tool Frame” drop-down menu on the “Position Status Readout” group of the persistent controls, or by using the change_tool_offset() command in a robot program.
“Remove Offset” will remove the currently selected tool frame.
“Update Offset Using Wizard” will being 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.
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