ABB distributed control system HIEE305098R0001 UNS0007A-P, V1 control DCS module card

Description

Tools are objects that can be directly or indirectly installed on the rotating disk of UNS0007A-P V1 robot, or can be assembled at a fixed position within the working range of the robot.
Note: Fixtures (clamps) are not tools.
All tools must be defined with TCP (tool center point) In order to obtain accurate tool center point position, all tools used by UNS0007A-P V1 robot must be measured and measurement data must be saved.

warning
It is important to always define the actual tool load as well as the payload of the robotic arm (for example, the gripper) when in use. Incorrect definition of load data may lead to overload of mechanical structure of mechanical arm. When specifying incorrect load data, it often causes the following consequences:
·The mechanical arm will not be used for its maximum capacity
·Impaired path accuracy, including excessive risk
·Mechanical structure overload risk
·The controller continuously monitors the load and writes to the event log if the load is higher than expected. The event log is stored and recorded in the controller memory.
The tool center point (TCP) is the reference point that defines the positioning of all robots. Generally, TCP is defined as relative to the position on the manipulator turntable
TCP can be fine tuned or moved to a preset target position. UNS0007A-P V1 The tool center point is also the origin of the tool coordinate system The robot system can process several TCP definitions, but only one valid TCP can exist at a time
There are two basic types of TCP: mobile or static
Mobile TCP
In most applications, TCP is mobile, that is, TCP moves with the manipulator in space
Typical mobile TCP can be defined by referring to the top of arc welding gun, the center of spot welding or the end of hand cone
Quiescent TCP
Fixed TCP is used in some applications, such as when using a fixed spot welding gun. At this time, TCP should be defined with reference to static devices rather than mobile manipulators
Tool declaration settings:
The tool is automatically named tool followed by a sequence number, such as tool10 or tool21. It is recommended that you change it to a more specific name, such as welding gun, clamp or welding machine. If you want to change the name of a tool that has been referenced in a program, you must also change all the specific values of the tool.
Define Toolbox
To define a tool box, you first need to establish a reference point in the geodetic coordinate system. If you want to establish tool center point orientation, you also need to attach an extender to the tool. You also need to decide how to use the tool box definition.

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