Setting Up a Tool Frame

Open Tool Frame setup

On the pendant, go to Setup, Frames, Tool Frame. Up to 10 standard tool frames are available (up to 253 extended).

Choose an unused tool frame number

Select a frame slot that is not already used by another tool on this robot.

Select a calibration method

Pick Three Point, Four Point, Six Point (XZ or XY), or Direct Entry based on what the tool needs. Three Point sets TCP position only. Six Point adds orientation. Four Point sets TCP position and reports Mean and Max error. Direct Entry lets you type values with no touch points.

Record touch points if the method uses them

Jog the tool tip to the fixed reference from the required orientations and record each with SHIFT+RECORD.

Caution: Jog in T1 low speed with the deadman held. Keep the cell clear of other personnel.

Set the tool orientation for Six Point

If using Six Point, teach the Orient Origin Point, X Direction Point, and Z Direction Point at distinct physical locations to define the tool's X and Z axes.

Review method-specific status

For Four Point, review the Mean and Max Error values on the setup screen; large values mean the touches were inconsistent and should be redone. For Three Point and Six Point, the screen shows only RECORDED/USED status with no error readout. Direct Entry has no touch points to compare.

Add a clear comment

Name or comment the frame so other technicians know which tool it belongs to.

Activate and verify

Activate the frame with SETIND to its number. Switch to tool-frame jog and rotate the wrist to confirm the tip stays fixed relative to the reference.