User`s guide

Defining a Tool Transformation
If the dimensions of a robot tool are known, the POINT command can be used to define a tool
transformation to describe the tool. The null tool has its center at the surface of the tool
mounting flange and its coordinate axes parallel to that of the last joint of the robot. The null
tool transformation is equal to [0,0,0,0,0,0].
For example, if your tool has fingers that extend 50 mm below the tool flange and 100 mm
in the tool x direction, and you want to change the tool setting to compensate for the offset,
enter the following lines at the system prompt (bold characters indicate those actually
entered):
.POINT hand.tool ↵ (create a new transformation)
X Y Z y p r
0.00 0.00 0.00 0.000 0.000 0.000
Change? ,100,-50↵ (alter it by the grip offset)
0.00 100.00 -50.00 0.000 0.000 0.000
Change? ↵
.TOOL hand.tool↵
.LISTL hand.tool↵
X.jt1 y/jt2 z/jt3 y/jt4 p/jt5 r/jt6
0.00 100.00 -50.00 0.000 0.000 0.000
The following image shows the TOOL that would result from the above operation.
Tool Transformation
Tool Transformations
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
Page 189