Two TCPs in one tool

in RobotStudio
Hey Guys.
I want to pick an object using gripper and then draw using a pen. I have designed the tool with pen and gripper but I don't know how I can create two TCPs in one tool because I need one tool centre point on gripper to grip object and then one tool centre point on tip of the pen to draw. Could you guys please help me how to do it?
Thanks in advance.
I want to pick an object using gripper and then draw using a pen. I have designed the tool with pen and gripper but I don't know how I can create two TCPs in one tool because I need one tool centre point on gripper to grip object and then one tool centre point on tip of the pen to draw. Could you guys please help me how to do it?
Thanks in advance.
Comments
Please take a look at this video on how to create a mechanism for a gripper:
And then to solve your specific problem, you can add multiple items under Tooldata; One for your pen and one for the gripper.
Thanks
Devarsh
I added two TCPs inn one tool but how to use them when needed. I mean how can I choose which point to choose?
Thanks
Devarsh
MoveL robtarget,speeddata,zonedata,TCP_1\WObj:=Wobj_1;
This uses TCP_1.
MoveL robtarget,speeddata,zonedata,TCP_2\WObj:=Wobj_1;
This uses TCP_2.
Thanks in Advance.
Thanks
Devarsh
I have tried it. Actually the orientation of the gripper is different than the other TCP. But it is at the center of two claws of gripper to make it grip at the center. Gripper picks the object but it doesn't pick it correctly because it changes orientation of the object and picks it by some distance from the gripper.
I will try to take pictures and upload it. But could you please tell me what is the problem.
Thanks
Devarsh
I have attached link to a unlisted youtube video of the simulation Have a look at it so you can see what the problem is and can help me to solve it.
I really appreciate your help. Thanks a lot.