Tool Center Point Parameters

SteveMob

Hello,

We have a new IRB120 and we are wanting to create a Tool Center Point with a custom tool. We are considering getting 2 probes (1 for the table, 1 for the end of the tool). These 2 probes have rounded, almost ball points at the end. I was told these can increase the TCP accuracy a lot, if used correctly. So I guess my question is, how can I go in the TCP parameters and tell the robot that the TCP is offset by however much the diameter of the "balls" are? That way, the robot can do all the math and find out what the exact center of the balls are and automatically create the TCP with essentially little to no error. Is this possible?

Along those lines, the actual probe would be offset a little from where we need the actual TCP. Is there a way to tell the robot that the TCP defined, is actually so many inches to the right or left?

This is something along the lines of what we would get for probes:
https://www.renishaw.com/shop/Product.aspx?Product=A-5004-7401

Thanks for any help!
SM

Joar

If you have created a tool and need to offset x,y,z.

Xvalues- if you put a number in her. YO 

YOURTOOL.tframe:=PoseMult(YOURTOOL.tframe,[[Xvalues,Yvalues,Zvalues],[1,0,0,0]]);