{"id":103902,"date":"2023-06-06T09:51:41","date_gmt":"2023-06-06T01:51:41","guid":{"rendered":"https:\/\/www.tm-robot.com\/docs\/tools-shift-base-shift%e7%9a%84%e4%bd%bf%e7%94%a8%e6%96%b9%e5%bc%8f%e8%88%87%e6%83%85%e5%a2%83\/"},"modified":"2025-09-18T15:40:32","modified_gmt":"2025-09-18T07:40:32","slug":"tools-shift-base-shift%e7%9a%84%e4%bd%bf%e7%94%a8%e6%96%b9%e5%bc%8f%e8%88%87%e6%83%85%e5%a2%83","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/en\/docs\/tools-shift-base-shift%e7%9a%84%e4%bd%bf%e7%94%a8%e6%96%b9%e5%bc%8f%e8%88%87%e6%83%85%e5%a2%83\/","title":{"rendered":"How and When to Use Tool Shift or Base Shift"},"content":{"rendered":"<p>Examples are valid for :<br \/>\nTMflow Software version : All versions<br \/>\nTM Robot Hardware version : All versions<br \/>\nOther specific requirements : None<br \/>\nNote that older or newer software versions may have different results.<\/p>\n<hr \/>\n<h2>Term Definitions<\/h2>\n<p>Tools shift<\/p>\n<ul>\n<li>The robot can run on the same path using a different tool.<\/li>\n<li>The robot can complete the same path if a tool is worn out or it uses a different tool.<\/li>\n<li>Tools shift is divided into <strong>Keep Pose\u00a0<\/strong>and <strong>Keep Path<\/strong>.<\/li>\n<\/ul>\n<p>Base shift<\/p>\n<ul>\n<li>When the robot is on a different base, it can run on the same relative path.<\/li>\n<\/ul>\n<h2><b>Tools <\/b><b>shift: Keep Pose\u00a0<\/b><\/h2>\n<p>If a tool selected when the robot records a path is incorrect or if the tool is not applied, Keep Pose of Tool Shift can be used to substitute the correct tool parameters of a node. This setting will not cause changes to the robot&#8217;s pose and position; that is, the tool overlaps with the <strong>original path<\/strong> when a project is underway.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471.png\"><img loading=\"lazy\" class=\"alignleft wp-image-93916\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471.png\" alt=\"\" width=\"1056\" height=\"530\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471.png 3623w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-300x150.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-1024x514.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-768x385.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-360x181.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-1536x770.png 1536w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72471-2048x1027.png 2048w\" sizes=\"(max-width: 1056px) 100vw, 1056px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p><b>The figure above shows the robot moving the same way it did earlier.\u00a0<\/b><\/p>\n<p>The robot will align the points in the new tool base with those in the old one to change its pose in line with the settings of the point recorded for the new tool. However, this may not work as a result of spatial constraints or the robot\u2019s mechanical limitations.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472.png\"><img loading=\"lazy\" class=\"alignleft wp-image-93922\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472.png\" alt=\"\" width=\"889\" height=\"545\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472.png 754w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472-300x184.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/\u5716\u72472-360x221.png 360w\" sizes=\"(max-width: 889px) 100vw, 889px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p><strong>The figure above shows the TCP aligned with the original path.\u00a0<\/strong><\/p>\n<h2>How and When to Use Base Shift<\/h2>\n<p>Purpose: To shift a point to a different base without changing the point\u2019s position and direction in relation to the base, and retain a relative position when the absolute position is changed.<\/p>\n<p>A job completed in different workspaces.<\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/messageImage_1700804651498.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-103904\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/messageImage_1700804651498.jpg\" alt=\"\" width=\"1298\" height=\"593\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/messageImage_1700804651498.jpg 1298w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/messageImage_1700804651498-300x137.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/messageImage_1700804651498-1024x468.jpg 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/messageImage_1700804651498-768x351.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/06\/messageImage_1700804651498-360x164.jpg 360w\" sizes=\"(max-width: 1298px) 100vw, 1298px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Examples are valid for : TMflow Software version : All versions TM Robot Hardware version : All versions Other specific requirements : None Note that older or newer software versions may have different results. Term Definitions Tools shift The robot can run on the same path using a different tool. The robot can complete the [&hellip;]<\/p>\n","protected":false},"author":82,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4147],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>How and When to Use Tool Shift or Base Shift | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"How and When to Use Tool Shift or Base Shift | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"Examples are valid for : TMflow Software version : All versions TM Robot Hardware version : All versions Other specific requirements : None Note that older or newer software versions may have different results. 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