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Teaching robot with multiple tools (application like dispensing)

pacijent
pacijent ✭✭
in RAPID Programming
Hello to all, could you please help me with proper solution. Let's say we have a gripper as robot tool, but also some dispensing gun as a reference for our points. How do we create programmed paths in this relation between object that robot is holding in gripper and tool frame of dispensing gun in RobotStudio. Thanks in advance.

Comments

  • j_proulx
    j_proulx ✭✭

    You would use a stationary TCP. The stationary TCP is a fixed position in the world and the workobject is moved by robot. In the tooldata you say FALSE to the robot holding the tool. In the wobjdata TRUE to the robot holding the workobject. The robot will jog linear around the stationary TCP

    PERS tooldata Laser:=[FALSE,[[636.963598964,-0.037059021,531.880276758],[1,-0.000012755,0.000000205,-0.0000001]],[1,[0.999462,0.000000883,-0.0328071],[1,0,0,0],0,0,0]];

    PERS wobjdata wobjTooling:=[TRUE,TRUE,"",[[38.555013593,26.198922822,55.827262333],[0.023249724,-0.710516218,0.019937564,-0.703013974]],[[0,0,0],[1,0,0,0]]];

  • pacijent
    pacijent ✭✭
    Thanks a lot for your answer.

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