TLSet Statement
Defines or displays a tool coordinate system.
Syntax
(1) TLSet toolNum, toolDefPoint
(2) TLSet toolNum
(3) TLSet
Parameters
- toolNum
- Specify the tool to be set as an integer value from 1 to 15. (Tool 0 is the default tool and cannot be modified.)
- toolDefPoint
- Specify the origin and orientation of the tool coordinate system to be set, either by Pnumber or P(expr) or point label or point expression.
Return Values
When parameters are omitted, displays all TLSet Definition.
When only the tool number is specified, displays specified TLSet Definition.
Description
Defines the tool coordinate systems Tool 1, Tool 2 or Tool 3 by specifying tool coordinate system origin and rotation angle in relation to the Tool 0 coordinate system (Hand coordinate system).
TLSet 1, XY(50,100,-20,30)
TLSet 2, P10 +X(20)
In this case, the coordinate values of P10 are referenced and 20 is added to the X value. Arm attribute and local coordinate system numbers are ignored.
| Symbol | Description |
|---|---|
| a | Tool coordinate system number |
| b | Position for X axis (a shown in the next figure) |
| c | Position for Y axis (b shown in the next figure) |
| d | Position for Z axis |
| e | Rotation angle (c shown in the next figure) |
| Symbol | Description |
|---|---|
| X, Y | Robot coordinate system |
| xt0, yt0 | Tool 0 coordinate system |
| xt1, yt1 | Tool 1 coordinate system |
TLSet for 6-Axis robots
The origin of Tool 0 is the flange side of the sixth joint. When all joints are at the 0 degree position, the Tool 0 coordinate system's X axis is aligned with the robot coordinate system's Z axis, the Y axis is aligned with the robot coordinate system's X axis, and the Z axis is perpendicular to the flange face, and is aligned with the robot coordinate system's Y axis, as shown in the figure below:
| Symbol | Description |
|---|---|
| a | Robot coordinate system |
| b | Tool 0 coordinate system |
Tool 0 coordinate systems are defined for ceiling and wall mounted robots as shown in the figures below.
| Ceiling mounting | Side (wall) mounting |
|---|---|
 |  |
a: Robot coordinate system b: Tool 0 coordinate system | |
TLSet for N series robots
When all joints are at the 0 degree position, the Tool 0 coordinate system's X axis is aligned with the robot coordinate system's -X axis, the Y axis is aligned with the robot coordinate system's Y axis, and the Z axis is aligned with the robot coordinate system's -Z axis, as shown in the figure below:
Tool 0 coordinate systems are defined for ceiling and wall mounted robots as shown in the figures below.
| Ceiling mounting | Side (wall) mounting |
|---|---|
 |  |
a: Robot coordinate system b: Tool 0 coordinate system | |
Description
Robot parameter data is stored in compact flash in controller. Therefore, writing to the compact flash memory occurs when executing this command. Frequent writing to the compact flash memory affects the lifetime of the compact flash memory. We recommend limiting the use of this command at a minimum.
Note
TLSet values are maintained
The TLSet values are preserved. Use TLClr to clear a tool definition.
See Also
Tool, Arm, ArmSet, TLSet Function, TLClr
TLSet Statement Example
The example shown below shows a good test which can be done from the command window to help understand the difference between moving when a tool is defined and when no tool is defined.
> TLSet 1, XY(100, 0, 0, 0) 'Define tool coordinate system for Tool 1 (plus 100 mm
' in x direction from hand coordinate system)
> Tool 1 'Selects Tool 1 as defined by TLSet
> TGo P1 'Positions the Tool 1 tip position at P1
> Tool 0 'Tells robot to use no tool for future motion
> Go P1 'Positions the center of the U-Joint at P1