Confirmation of Tool Setting

The following describes tool setting procedures.
For "Screw Driving", you need to be careful of correspondence between the direction of actual screw driving and the current tool setting.

1. Use a caliper to measure the distance of X, Y, and Z from the J6 flange plane to the end of the electric screwdriver.

2. Execute the following in [Command Window]. Enter the values measured in procedure (1) in "LengthX, LengthY, LengthZ".

   > Tlset 1,XY(LengthX,LengthY,LengthZ,0,0,0)
   

3. Click Epson RC+ menu-[Tools]-[Simulator]. The [Simulator] window is displayed.

4. Select the object tree-[Manipulator Name]-[Tool].

5. Place a checkmark in "No.1"-[Visible] check box.

To confirm that the tool setting is correct, compare the display of the [Simulator] window and the orientation of the actual robot.

According to the display of the [Simulator] window, you will see that screw driving is performed to +Z direction of the tool.