RobotStudio event

Tcp offset?

Petjo
Petjo ✭✭
in Robot Controller

Hi everybody!

I want to define my tcp with an offset of x=73mm y=0 and z=423mm. the problem is that the tool doesnt rotate around the 6:th axis but around an axle parallell to it, with an offset of y 153mm (this axle is on the gripper, beltdriven by the robot's 6:th axle...)

can this be done so I get a proper definition to my tool and use RS to make proper simulations etc, or am I forced to program the robot "the ugly way" with tool0?

Its an IRC5 robot, but might be used on a s4 later on too.

/Peter

Comments

  • Anders S
    Anders S mod

    Hi !

    The tcp is always calculated from the 6:th axis (tool0). So if you want an offset of x=73mm y=0 and z=423mm from your parallel axle, you also have to add an Y offset of 153 mm to yor tcp.

    Best regards,
    Anders Spaak
    ABB Robotics
  • Petjo
    Petjo ✭✭
    Yes, but the center of rotation lies in the parallell axle and not in axle 6. I guess I have to make it the ugly way after all.. Thanx anyway.

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