Tab 1: Tools and coordinate systems
Any number of created tools and coordinate systems can be added to the programme here, which can then be accessed for the corresponding commands.
The first tool has a special role, as the programme is always started with this tool. This means that waypoints that do not have a fixed tool stored are approached with this tool until another tool is defined as the active tool using the change tool command. All tools defined here can be stored at waypoints.
The 3D world of the programme can also be defined.
Tab 2: Weight
The weight configured here on the robot flange (tool + workpiece) applies programme-wide for all Waypoint and Relative Waypoint commands, unless it is overwritten by a Change Waypoint or a separate weight is configured in a Waypoint or Relative Waypoint command.
ATTENTION!
The maximum weight on the TCP should be determined as precisely as possible and set here. If the weight specification is too low, the robot will be operated outside the specification. This can lead to increased wear and possibly to step losses and thus to damage to the system. Operating the robot outside the specification will invalidate the warranty.
