Using the 3-point method, what is the first step to set the TOOL frame?

The first step in setting the TOOL frame using the 3-point method is to come from the Z direction to a point and save. This step is crucial because it establishes a reference point in relation to the tool's orientation. By approaching the tool from the Z direction, the robot can accurately define the position and alignment of the tool in three-dimensional space.

This initial step ensures that the Z axis is properly oriented, which serves as the basis for defining the other axes in the frame. It confirms the tool’s alignment in relation to its main operational axis, allowing for precise movements during the subsequent programming of the TOOL frame.

Defining the TOOL frame requires an accurate understanding of the orientation and position of the tool as it relates to the part it will work on. Therefore, initiating the process by approaching from the Z direction is fundamental to achieving accurate and effective robot operations later on.