Coordinate System

Dante1990

Hi,

I wanna change the tool coordinate System, but i dont no how ?
I would assume the coordinate system of the tool0

SjoLi

The Z-axis of Tool0 is always pointing straight out of the mounting flange with the X-axis pointing down.

When you create a tool always make sure to have the correct orientation and location of the ORIGIN and the TOOLFRAME

- Origin is what wil be used when attaching the tool to a robot (referenced to Tool0)

- TOOLFRAME wil be the reference for your TCP

Because your working with a gripper you might also want to be able to open and close it.

This will require making it a mechanism.

Dante1990

I changed the the Tool frame of my Tool, when i create the tool.
Icant change the World coordinate System of the gripper.
I think i have to change the World coordinate System of the gripper, but i dont no how?

PerSvensson

When you attach a tool to a robot it will use the local coordinate system relative the graphical world coordinate system. So what you need to do is to set the local coordinate system of your gripper graphics. If you set position of your graphics to zero relative world the attach position you want should be in the graphical 0 position.

Hard to explain easy when you have done it a couple of times :-)  

amardebbari

you can read this  http://developercenter.robotstudio.com/BlobProxy/manuals/IRC5FlexPendantOpManual/doc98.html