How to offset the angle from flange to end of tooling

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**Attention** : Read this resource material carefully and in its entirety before use, to ensure it is understood and used properly.  Failure to properly follow the instructions in the resource materials DPAM provides may result in damage to your equipment.  As a result, by using the resource materials, you are assuming the risks associated with modifying your equipment. DENSO holds no liability, implied or otherwise, for damage, injury or any legal responsibility incurred, directly or indirectly from the use of the resource materials, including any loss of data or damage to property which may occur by your use of the resource materials. The use of the resource materials are not recommended unless you have technical knowledge and functional experience with the equipment and related software. DENSO is unable to provide support, remote or otherwise, for the information included in the resource material, nor for the ancillary topics relating to the information included in the resource materials. Therefore, if you are not fully comfortable with it, we strongly recommend that you send your unit to one of our Regional Support Centers for repair.  The information contained in the resource materials are subject to change at the sole discretion of DPAM.

Overview

The angles for your end of arm tooling, Rx, Ry, and Rz, are all set manually as the easy edit option cannot determine how this angle will be based on the points taught. The easy edit option always sets the tool angles to 0.

If you are unsure if you set the angles correctly, you can verify the tool offset inside of Wincaps3 by going to the arm operation tab and selecting your motion mode as tool and then selecting the tool offset you created. You should see a red coordinate system pop up on the 3D arm view. It will also indicate the directions of positive X, Y, and Z in the tool coordinate. The image below shows the tool offset without the correct rotations.

Inside of Wincaps3, as you modify the tool coordinate system, you will see the red tool coordinate system shift as well as long as it is selected in the arm operation window. Here we have the corrected offset which is set to follow the direction of the tool’s Z axis.

This was done by simply inputting angle values into the tool menu inside of Wincaps3. You can then send over these angles to the robot controller and view them from the arm menu.

Owner’s Manual Reference

https://www.fa-manuals.denso-wave.com/en/usermanuals/001577/


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