User Manual

R12 Tool Changer instructions page 8 ST robotics
Change increment to 9mm. Move up 9mm so that the spikes are still aimed at the holes.
Exit Jog, highlight line 1 and click insert position. The target position is now line 3
Change increment to 10mm and move up well clear. Exit Jog and click insert position. The target position is
now line 4 with 3 positions above which are the way in,
Click line 2 and GoTo/Exec
Click line 3 and GoTo/Exec
Click line 4 and GoTo/Exec
the tool is now together.
Using Jog and J6 for 6-axis or J5 for 5-axis first press WH or in the nexus press the refresh button to see the
current roll angle. Rotate clockwise (seen from above) in 10 degree increments until you reach 80 degrees
from where you started. You will see the T-bar in the changer move along the ramp.
Change increment to 1mm and rotate further. You should in theory need 90 degrees to get to the end of the
ramp but a value of 87 degrees is typical.
The tool is now locked.