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Define Tool
The Define Tool command makes a Tool object on the active robot and sets its TCP (Tool Center Point). The command is available only when the document contains a robot.
To edit a tool, select it. Then start the command again. The panel opens as Edit Tool & TCP and the name is fixed. OK keeps the changes. Cancel removes them.
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Select the robot for the new tool and TCP. Then click the Define Tool icon in the toolbar.
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The Define Tool & TCP panel opens.
| Field | Function |
|---|---|
| Name | Label of the new Tool object (fixed when you edit) |
| Robot Flange (Pick Robot Flange) | The face on the robot where the tool flange mates |
| Tool Shape (Pick Tool CAD) | Import a shape file for the tool geometry |
| Tool Flange (Pick Tool Flange) | The face on the tool that mates to the robot flange |
| TCP (Pick TCP) | A reference on the tool geometry that sets the TCP location |
| Tool Offset (X, Y, Z, W, P, R) | Position of the tool on the robot flange |
| TCP Offset (X, Y, Z, W, P, R) | Position of the TCP on the tool |
| Mass | Tool mass |
The offsets are millimeters and degrees (yaw W, pitch P, roll R).
Select the flange face on the robot in the 3D view. Then click Pick Robot Flange.
The Tool object has a TCP_drag_frame property in the properties panel. It has two values:
- World: the TCP frame stays parallel with the world axes.
- Tool: the TCP frame is local to the robot flange. It turns with the tool.
Type the tool offset. It moves the tool on the robot flange.
Type the TCP offset. It moves the TCP on the tool.
Note: the rotation fields (W, P, R) of the TCP offset apply only when TCP_drag_frame is Tool. In World mode, the frame stays parallel with the world axes and ignores these values.
A tool does not need geometry. Without a tool shape, the TCP goes directly on the flange face of the robot.
The 3D view shows a dragger at the TCP. Pull the ball to move the TCP freely. Pull an axis to move only along that axis. Inverse kinematics moves the robot to the target. See Kinematics.
- The Tool object calculates a world
TCP_placementeach time the robot moves. - With a tool, the kinematic chain ends at the TCP, not at the last joint frame. Trajectories and IK then aim at the TCP.