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Video Quicktip on Tool Frames: https://www.youtube.com/watch?v=8RkCthIxKBg

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. An optional description field provides a location for a more detailed description of the frame’s intended use. You can select a tool model 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 editable. To edit a field, click into the field. Use the mouse or the arrow keys to navigate within a cell.

Create a New Tool Frame

Select Add Offset to create a new tool frame. In the window that displays, name the new frame and select a tool model. The tool model selection allows the user to choose Tormach-configured tools, which will appear in the robot visualization. To use the pre-configured frame offset values for that tool, leave the Apply Default Offset checkbox selected.

Note: Creating a new frame does not automatically apply that frame. You must apply a tool frame either by selecting the frame in the Tool Frame drop-down menu on the “Position Status Readout” group of the persistent controls, or use the change_tool_offset() command in a robot program.

Remove the Currently Selected Tool Frame

Select Remove Offset to remove the currently selected tool frame.

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. Watch the following video to learn more about use of this wizard.

FIXME - quick tip video.

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