User Manual

R12 Tool Changer instructions page 12 ST robotics
Why use SEGMENTED mode:
CONTINUOUS and SMOOTH are smoother but you can not round the corners before and after rotating in
the tool adaptor since it must be fully seated before rotating. If you want to make it smoother create 2 routes
for each tool, one for the way in and one for the way out.
Recovery
If the robot crashes for any reason proceed as follows
ENCOFF
Use Jog to get away from the accident.
HOME
START
CALIBRATE
Check/reset the tool to the unlocked position by hand.
Find the hard stop which is a small pillar that can move against a stop (a screw head). Rotate the changer by
hand anti-clockwise then clockwise again as far as it will go, with the pillar against the stop. This is essential.
If at any time this gets moved while not holding a tool then you must set it again by hand.