ID : 320

Tool

Function

To set a tool coordinate value.

Syntax

Tool tool coordinate number, position type data

Guaranteed Entry

Tool coordinate number: Designate a tool number from 1 to 63 by Integer Type data.
Position type data: Designate Position Type data.

Description

A tool coordinate value is set.

Tool of the specified tool number is overwritten by Position Type data designated in coordinates.

FIG element of the Position Type data is ignored.

To execute this command, the task must acquire robot axis control.

Related Terms

ChangeTool, CurTool, ToolPos, Tool Coordinates (6-axis, 4-axis)

Attention

Even if the Next option is attached to the preceding motion command, this command is not executed until the previous command is completed. Refer to Motion Statements.
The values set by this command are effective until the controller power OFF.
Once the controller power turns OFF, the values will be cleared.
To retain values after the controller power OFF, set values with a teach pendant.
Or alternatively, set with WINCAPSIII and send it to the robot controller. For details, refer to the "Displaying and Setting Tool Coordinates" of TEACH PENDANT OPERATION GUIDE or "Tool Setting" of WINCAPSIII GUIDE.

Example

'!TITLE "Declaration of Tool Coordinates"
Sub Sample_Tool
  TakeArm Keep = 0
  
  'Enter position type data in the tool coordinate number 2
  Tool 2, P(10, 10, 100, 0, 0, 90)
  
  ChangeTool 2
  Move P, P[1]

End Sub

ID : 320

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