Missing axes in tool align

JanS

Hi, im beginner with the ABB programming, we have IRB-2400 robot and we recently changed working tools with diferent orientations. When i want to align tool with workobject or world, only 2 axes are aligned perpendicularly. Isnt the tool inserted in opposite direction or is it some problem in programming? Thank you for your answers

mandolas

Hi ...

"When I want to align tool with work object or world", I didn't understand??

If you are aligning using the "Align" button in the "Jogging" menu, this alignment serves to align the robot regardless of the tool used.

If this is not the way to do it, please give more details about what you want to do.

Good job

lemster68

This is from the Operating manual - IRC5 with flexpendant:

A tool can be aligned with another coordinate system. When aligning a tool, the tool’s z axis is aligned to the selected coordinate system’s nearest axis. Therefore it is recommended to first jog the tool so it is close to the desired coordinates.

If another axis in the tool coordinate system also aligns, this is merely by coincidence.