[RobotStudio study notes] (5) tool data

1. Remove the jaws, measure the coordinates of the end of the jaws
   
2. Click Modeling-Measurement-Point to Point, select the bottom surface and end surface of the gripper, and record the obtained z coordinate value
   
3. Install the gripper back to the end of the robot
   
4. Open the virtual teach pendant, enter manual operation-tool coordinates-new, modify the name, click the initial value in the lower left corner
   
5. Modify the first z (coordinate position) to be 215.30 measured just now, mass (mass) to 1, and the second z (center of gravity) to estimate a number
   
   
6. Verify the coordinates, select the action mode as repositioning, and the tool coordinates as the newly created coordinates. Operate the joystick to see that the robot rotates around the center point of the two ends of the gripper.