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Example and explanation of fixed TCP.

Thijmen
Thijmen ✭
in RobotStudio

I'm wondering if anyone can help me with the following.
I have an application where the robot is holding a piece of steel.
There is an eye at the end of the piece of steel.
I would like to move this eye over the brush.
The eye is 65mm and the brush 40mm.
Now the idea is for the robot to move over the brush and then make a rotating movement.
Myself I'm thinking to make the brush a fixed TCP.
We have experience with this so I was wondering if anyone could help us with this.

Answers

  • mandolas
    mandolas ✭
    Hi...
    I didn't quite understand, but maybe translating the TCP and working with RelTool could solve your problem.
    Add usedToolL.tframe.trans.x,100;
    Good work.
  • Thijmen
    Thijmen ✭
    Hi...

    Thanks for your solution

    I finally solved it in the following way.

           
    MoveJ V2_1,v1000,z0,toolBorstel\WObj:=Wobj6470_V1;
    MoveC V2_2,V2_3,v50,z0,toolBorstel\WObj:=Wobj6470_V1;
    MoveC V2_4,V2_1,v50,z0,toolBorstel\WObj:=Wobj6470_V1;

    Where I used a work object that is linked to the robot arm.
    And a fixed TCP.

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