Ingles

When difining the basepoint the robot should first be moved toa position where the symmetrical axix or its extensión points through the referencepoint, see the figure below .In this figure , thebasepoint will be defined in point B, i.e outside the TCP. (This means that the x-axis of the tool-coordinate system will point in the opposite tool direction, but this is generally of lessimportance.)
1 direct the tool to the orientation required, relative the work piece.
2 define the TCP with the AUTO DEF method
3 when ENDPOS is entered the TCP is defined. Move the TCP a couple ofcentimeters back wards from the work piece by moving the robot manually with the joystick.
4 define the BASEPoint with the AUTO method whithout moving the robot, i.e answer
5Activate the recently definedTCP.
If the tool orientation is to be chanfed during the program execution, a new pair of basepiont/TCP must be defined.
1 activate the old TCP.
2 direct the tool to the orientation required (bymanual running).
3 copy the old TCP-location under the new TCP-number with the AUTO method, I e answer the question ¨NEW START POS¨with YES, press START POS and then press ENDPOS, without moving therobot in berween.
4 Move theTCP A couple of centimeters back wards from the work piece by moving the robot manually
5 define the new basepoint with the AUTO method without moving the robot ,I e answerthe question ¨NEW START POS¨with NO, and then press ENDPOS.


TOOL (SENSOR)
The following menu for selection of sensor numbers is available under TOOL +SENSOR in the MANUAL menu on theprogramming unit

1 the numbers of the sensors which are already defined in the system are presented in theupper display line.
2 select the number of the sensor which is to be checked, changed or defined.3the system then presents a succession of questions for all parameter wich are availablefor the sensor concerned.
4with ENTER without specificacion of data, a value already defined for the parameter...