Tool Transformations Tool Transformations A tool transformation is a special transformation that is used to account for robot grippers (or parts held in grippers) that are offset from the center of the robot tool flange. If a location is taught using a part secured by an offset gripper, the actual location recorded is not the part location, but the center of the tool flange to which the offset gripper is attached, as shown in the following figure. If the same location is taught with a tool transformation in place, the location recorded is the center of the gripper, not the center of the tool flange. This allows you to change grippers and still have the robot reach the correct location.
The following figure shows the location of the robot when a location is taught and the actual location that is recorded when no tool transformation is in effect. If the proper tool transformation is in effect when the location is taught, the location recorded will be the part location and not the center of the tool flange. Recording Locations Tool transformations are most important when: l Grippers are changed frequently l The robot is vision guided l Robot locations are loaded directly from CAD data eV+Language User's Guide, v2.x, 18318-000 Rev A Page 124