Tool Coordinates System and Tool Definition

Based on a mechanical interface coordinates system, you may define tool coordinates system, which is Cartesian coordinates, by offsetting the origin of the mechanical interface coordinates system to a different point, along with the size and direction of a tool, and then rotating the origin around the Z-axis of the mechanical interface coordinates system.

The point being offset will be the origin of tool coordinates system. This point is generally called TCP (Tool Center Point).
To set the tool coordinates system is called “Tool definition”. Tool definition defines the distance and rotation angle of the offset.
You can define up to 63 types of tool coordinates system, and each system is given individual tool coordinates number from TOOL1 through TOOL63. TOOL0 stands for the mechanical interface coordinates system.

The parameter in tool definition is as follows. Each parameter specifies tool offset on each tool coordinate.