Basic Characteristics RAPID

tframe (tool frame) Data type: pose
The control hole
The tool coordinate system, i.e.:
- The position of the TCP (x, y and z) in mm.
- The tool directions, expressed in the form of a quaternion (q1, q2, q3 and q4).
Both the position and rotation are defined using the wrist coordinate system (see
Figure 1.) If a stationary tool is used, the definition is defined in relation to the
world coordinate system.
If the direction of the tool is not specified, the tool coordinate system and the
wrist coordinate system will coincide.
X
The wrist coordinate system
Y
Z
Figure 1 Definition of the tool coordinate system.
tload (tool load) Data type: loaddata
The load of the tool, i.e.:
X’
- The weight of the tool in kg.
- The centre of gravity of the tool (x, y and z) in mm.
- The axes of moment of the tool, expressed as a quaternion (q1, q2, q3, q4).
- The moment of inertia of the tool about the axes of moment x, y and z, expressed
in kgm2 .
If all components are defined as being 0 kgm 2 , the tool is handled as if it were
a spot load.
For more information, see the data type loaddata.
The tool coordinate system
Y’ TCP
If a stationary tool is used, you define the load of the gripper holding the work
object.
Note that only the load of the tool is to be specified. The payload handled by a
gripper is connected and disconnected by means of the instruction GripLoad.
7-tooldata-2 RAPID Reference Manual
Z’