9/9/2019 Siemens Documentation: Adding Toolframes

Adding Toolframes

A toolframe enables you to mount tools or components on a robot, and distinguishes between a simple device and a robot. The toolframe is the location where a tool is mounted on a
robot and is usually defined on the last link of a robot.

To add a toolframe:

1. Click in the Kinematics Editor. The Create Toolframe dialog is displayed:

2. Click Location and specify a location for the toolframe in one of the following ways:

Select a location in the Graphic Viewer (The cursor changes to when selecting a location in the Graphic Viewer.)
Click in the field of the required coordinate and specify the exact position of that coordinate by using the up and down arrows displayed.
Click in the field of the required coordinate and manually enter the position of that coordinate.
3. Click in the Attach to Link field and select a link in the Graphic Viewer to which you want to attach the toolframe. The selected link is displayed in the Attach to Link field. (The
cursor changes to when selecting links in the Graphic Viewer.)
4. Click OK. The toolframe is created and displayed in the Graphic Viewer. In the Object Tree, a toolframe, reframe and TCP frame are displayed.

After a toolframe has been defined for the device, it becomes a robot. You can now mount a tool or component on the robot to perform tasks. Refer to Mount Tool, for more details.

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