RAPID reference manual - Technology

MToolRotCalibRobotWare-OSInstructionzxRefTipElongator toolZPoszXPosxWorld fixedtipFigure 23 Definition of jointtarget for RefTip, ZPos and optional XPosExample! Created with the world fixed tip pointing at origin, positive z-axis and positive ! x-axis.CONST jointtarget pos_tip := [...];CONST jointtarget pos_z := [...];CONST jointtarget pos_x := [...];PERS tooldata tool1:= [ TRUE, [[20, 30, 100], [1, 0, 0 ,0]], [0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];! Instructions for creating or ModPos of pos_tip, pos_z and pos_xMoveAbsJ pos_tip, v10, fine, tool0;MoveAbsJ pos_z, v10, fine, tool0;MoveAbsJ pos_x, v10, fine, tool0;Only tool calibration in the z directionMToolRotCalib pos_tip, pos_z, tool1;The tool orientation (tframe.rot) in the z direction of tool1 is calculated. The xand y directions of the tool orientation are calculated to coincide with the wristcoordinate system.Calibration with complete tool orientationMToolRotCalib pos_tip, pos_z \XPos:=pos_x, tool1;The tool orientation (tframe.rot) of tool1 is calculated.300 RAPID reference manual - part 1a, Instructions A-R