Precautions When Defining Tool Coordinates

1. The ChangeTool command will take effect only in a program that has gotten robot control by successful execution of the TakeArm command.
   Execution of the TakeArm command will initialize the tool coordinates definition to TOOL0 (default that is the same as settings for the mechanical interface coordinates).
2. From the step where ChangeTool command is written in the programs, the defined tool coordinates will take effect. The definition will remain valid up to the step immediately preceding the step where new ChangeTool command is written.
3. If no ChangeTool command is written in a program, TOOL0 (mechanical interface coordinates) will apply.
4. Once you select tool coordinates on the Select Operation Mode window called up by the M-MOD key on the teach pendant, it will take effect in Tool mode until it will be changed.
5. If TOOL number used for running the robot to the object point and attitude differs from TOOL number previously used in writing the current point and attitude, the resulting position and attitude of the robot flange will become different from the previous ones.
   For example, when programming, if the object point and attitude have been written with the Approach command in TOOL0 and TOOLn (n is any of 1 through 63) is inserted in any step preceding the Approach command, then executing the program brings the center of the robot flange to a different point and attitude from those defined in TOOL0, depending upon the contents of those different tool definitions.
6. The tool coordinates definitions made in program execution and in manual running are saved in the same memory location.
   If the operation mode is switched from Auto mode to Manual mode, the tool coordinates definition made in programming will remain in effect.
7. The current TOOL number can be checked in the status bar on the teach pendant.