Tool data

memphiss

hello friends, I have a newbie question here about tool data.

What is the exact meaning of each vector in the matrix of tooldata?

for example:

PERS tooldata AppliTool:=[TRUE,[[954.871,101.011,-231.892],[0.498454,0.001061,0.866914,-0.001845]],[100,[450,0,0],[1,0,0,0],30,20,40]];

  The source reason is I want to know which one tells the load pay weight; and then I found other vectors I also do not know its meaning.

  especially    [100,[450,0,0],[1,0,0,0],30,20,40]];
 

   Thanks a lot!

    Xia

 

 

vulpes_h

100,[450,0,0],[1,0,0,0],30,20,40]];

Mass in kilo 100 kg = 1000N

and the position in the middle of the mass is according to Tool0;

X,Y,Z  450 mm,0mm,0mm in the direction [1,0,0,0] according to Tool0;

Then we have "Mass of energi" the power it takes to move or stop the tool around  X Y Z named ix,iy,iz;

All these values is given by running the "Load Id" service rutin... then the robot will weigh the tool load for you !

 Everyone shall allways use "Load ID" or let ABB calculate the mass of tool from drawing.

Load of "Part" shall allways be used...in the program,

"Load Id" program will give you the "Part load" in same way ...

All this will give a better accuracy, less stress on gears, motors, smother robot movement, faster

All this will give a better accuracy, less stress on gears, motors, smother robot movement, faster cycle times and a happy customer happy integrator, and ABB Support engineer, happy Robot, happy sales manager .... everyone is happy

memphiss

Thank you Henrik!

  Very explicit explaination.