Fixed Tool: Robot movement based on a fixed point away from the robot

Описание: The Fixed Tool function allows robots to move based on a fixed tool point/external tool. When using this function, the reference point is not at the robot's tool center point (TCP), but at a fixed point away from the robot. This reference point is called the fixed tool point or external tool.

The robot can perform the movement using one of the following two methods:
1) The standard way when the workpiece is fixed in space and operations are performed on the workpiece by moving a tool mounted to the robot.
2) Using Fixed Tool where the tool is fixed in space and the robot holds and moves the workpiece in relation to the tool.

When a robot moves based on the fixed tool, the robot holds and moves workpiece so that a series of points on the path connecting the taught points on the workpiece pass through the origin of the fixed tool coordinates (TCP of the fixed too). Also, the robot controls the motion so that the speed, acceleration and repeatability are at the set level when the points on the workpiece pass through the Fixed Tool TCP.


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