Using a Tool Offset Using a Tool Offset In certain robotics applications, it is necessary to use an end-effector (also referred to as a "tool" or "grip- per") that has an offset from the origin of the robot end-effector mount (also referred to as the "tool flange"). The ACE software provides a Tool Offset Wizard, which simplifies the task of teaching a tool offset. When teaching the tool offset, you must rotate the end-effector around the tool tip and teach at least two points. If more points are taught, the tool offset will be slightly more accurate and repeatable.
With many robots (for example, SCARA robots), you can only rotate in the X-Y plane, in which case only the X-Y tool offset will be computed by the tool offset wizard. For these robots, you must manually edit the Z-extension of the tool offset. This will ensure that the heights of taught locations are accurate. It will also allow the 3D Visualization window to display the proper gripper dimensions. When using six-axis robots, you can rotate around the tool tip in three dimensions. With these robots, either the X-Y or full X-Y-Z tool offset will be computed depending on the amount of rotation. However, the tool offset wizard does not calculate the orientation of the tool tip.
Therefore, you must enter that value manually. NOTE: When a workspace loads or the connection state of a controller changes, the TOOL (tool offset) is not updated. However, if you do something that requires a gripper (end-effector) to be set, the tool off- set will be updated. For example, if you perform a robot-to-belt calibration, it will apply the end-effector and tool offset used in the calibration settings. For details on the robot-to-belt calibration, see Belt Cal- ibrations on page 848. Teaching a Tool Offset To teach a tool offset: NOTE: You must teach at least points. However, teaching more points will improve the accuracy of the computed tool offset. 1.
From the Gripper Editor click the tool offset icon ( ). For details, see Gripper Editor on page 108. The Tool Offset Wizard opens. ACE User's Guide, 3.6.x, 18316-000 Rev A Page 261