Configuring The Software; Setting Up The Tool Center Point (Tcp); Activating The Multifunction Flange - Abicor Binzel Rtm Abix Easyteach Originalbetriebsanleitung

5 Configuring the software

5 Configuring the software
The "easyTeach" software extension is automatically installed with the URCap from version 4.0.0.

5.1 Setting up the tool center point (TCP)

Set up the TCP per the "Installing and using URCap" instruction leaflet (BEI.0361.0) and the Universal
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Robots Cobots instructions.
 "Installing and using URCap" instruction leaflet
Set the Rx, Ry, Rz angle to <0> in order to ensure the correct function of the multifunction flange.
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Set up/apply/create two TCPs if the TCP coordinate system should be worked with as well: one with the
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correctly assigned Rx, Ry, Rz; and one for use in conjunction with "easyTeach".
Fig. 3

5.2 Activating the multifunction flange

Select menu <Installation> → <URCaps> → <easyTeach>.
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Fig. 4
Select the created TCP. This is used for all tracks created with easyTeach.
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Check the <Enable easyTeach Hardware> checkbox.
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The inputs on the multifunction flange are activated and assigned the following functions:
Analog input 3, short
Analog input 3, long
Digital input 1, short
Digital input 1, long
Digital input 0
DE - 6
Example for the configuration of two TCPs
Selecting TCP
Welding on/off
Weld for as long as the button is pressed
Create position
Create circle movement
Set Freedrive/robot free
RTM ABIx EasyTeach