MToolTCPCalib - 4 Axis robot?
Good day,
I have used the ABB RAPID function MToolTCPCalib in the past to teach the TCP offset of a calibration pin tool with a 6 axis robot.
However attempting to repeat the same with a virtual IRB 660 4 axis robot I keep getting the error below, regardless of actual passed joint targets:
Does anyone know if it is actually possible to use MToolTCPCalib to get the x,y,z TCP offset of a tool with a 4 axis robot?
Thanks in advance,
I have used the ABB RAPID function MToolTCPCalib in the past to teach the TCP offset of a calibration pin tool with a 6 axis robot.
However attempting to repeat the same with a virtual IRB 660 4 axis robot I keep getting the error below, regardless of actual passed joint targets:
40801: Calculation error
Description
Task: MAINTASK
Cannot calculate the tool frame.
Program Ref. /Teach/rCalculateAndDisplayTCP/MToolTCPCalib/87
Causes
It is not possible to calculate the tool frame with the selected approach points.
Actions
Select new approach points as accurate as possible.
Thanks in advance,
Tagged:
0
Comments
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Are you sure you are assigning the points as jointtargets and not robtargets?0
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Hi xerim,
Thanks for the feedback, yes indeed MToolTCPCalibis being passed 4 joint targets:MToolTCPCalib jp1,jp2,jp3,jp4,tCalPin,nMaxErr,nMeanErr;
where jp1 - jp4 are joint targets:TASK VAR jointtarget jp1:=[[157.47,-16.2178,36.1094,0,0,85.735],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; TASK VAR jointtarget jp2:=[[146.052,4.97363,38.7396,0,0,-206.682],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; TASK VAR jointtarget jp3:=[[152.539,-25.0653,32.5315,0,0,-299.196],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; TASK VAR jointtarget jp4:=[[132.324,-34.0644,27.6696,0,0,-27.4108],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
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According to the technical reference manual, there are a list of conditions that must be fulfilled before using the instruction MToolTCPCalib. See below
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The orientation of 4 targets should be different each other as the picture attached. Otherwise, you will get the error because the calculation result is infinite. And of course this is the limitation of 4 axis robot.1
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Thanks innebandy, so it seems that a difference in orientation via rotation around world z axis alone is not enough, and MToolTCPCalib therefore does not work on 4 axis robots.0
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You’ve got a point there.
0
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