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hi guys and welcome to the next episodes today we're going to take care of the tool frame so i hope as you remember from my last video we were talking about frames to be more exact about the word frame and i want to go back really uh for a brief moment to that video just to remind you what the frames are so they are used basically to describe the position in a three dimensional uh cartesian system so you have your x y and z coordinate and yo pitch and draw orientation so that's just a reminder and now let's get to the tool frame okay so what is a tool frame uh it is used to describe uh tooling actually where the like the focal point or reference point of the end of the answering is so by default uh it is located at the end of axis six at the front of the robot faceplate so you have a we can imagine a small dot that's being placed over there and that's the point that you will refer all of your movements to so when you're going to jog using the to ol frame you will refer all of your movements to that dot so you're going to rotate around that dot you're going to move forward left upward whatever according to that dot that dot is going to move or won't move so uh to describe it uh better what what is it and why why we use it so let's say you have a spot welding gun mounted at the robot so why do you need the so what it's doing basically it's a like physical measurement of the distance from the robot plate to for example if you have a welding gun to the electrodes or you have a mic torch it's going to be from the face plate to the wire stick out or if you have a gripper it's going to be from the robot first plate to for example a pin or one of the clamps on the gripper so you will have a point of reference for the movements so you know what's going to move so you don't need to look well you need to look