User`s guide

TYPE /C2, "All done. The tool transformation has been set ", /S
TYPE "equal to 'new.tool' .", /C1
DETACH (1) ;Detach the pendant
RETURN ;Return to calling program (or
STOP)
.END
Because of computational errors introduced when compound transformations are used, the
accuracy of the program presented above can be improved by using a simple tool with no
oblique rotations as the reference tool. In fact, you can get the most accurate results if you
can use the mounting flange of the robot without a tool as the initial pointer. In this case,
the reference tool is the default null tool. The program above can be simplified by deleting the
references to ref.tool in lines 17, 28, 45, and 46.
The first time the program is executed, respond to the prompt with N. The reference tool is
defined.
After the program executes once, the tool transformation can be updated by executing the
program again. This time, respond to the prompt with Y. The program directs you to position
the new tool at the same reference location as before. As long as the values of ref.tool and
ref.loc have not been altered, a new tool transformation is automatically computed and
asserted. This is a convenient method for occasionally altering the tool transformation to
account for tool wear.
Defining a Tool Transformation
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
Page 347