Basic Characteristics RAPID

Examples
Limitations
Predefined data
PERS tooldata gripper := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383 ,0]],
[5, [23, 0, 75], [1, 0, 0, 0], 0, 0, 0]];
The tool in Figure 1 is described using the following values:
- The robot is holding the tool.
- The TCP is located at a point 223.1 mm straight out from axis 6 and 97.4 mm
along the X-axis of the wrist coordinate system.
- The X and Z directions of the tool are rotated 45 o in relation to the wrist coordinate
system.
- The tool weighs 5 kg.
- The centre of gravity is located at a point 75 mm straight out from axis 6 and
23 mm along the X-axis of the wrist coordinate system.
- The load can be considered a spot load, i.e. without any moment of inertia.
gripper.tframe.trans.z := 225.2;
The TCP of the tool, gripper, is adjusted to 225.2 in the z-direction.
The tool data should be defined as a persistent variable (PERS) and should not be
defined within a routine. The current values are then saved when the program is stored
on diskette and are retrieved on loading.
Arguments of the type tool data in any motion instruction should only be an entire persistent
(not array element or record component).
The tool tool0 defines the wrist coordinate system, with the origin being the centre of
the mounting flange. Tool0 can always be accessed from the program, but can never
be changed (it is stored in system module BASE).
PERS tooldata tool0 := [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ],
[0, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0] ];
RAPID Reference Manual 7-tooldata-3