Drawing with tool "Pen"

I am dealing with an IRB1600 that has to draw some figures on some boxes using the tool "Pen". I have set the path to follow and I was wondering if it is possible to make the drawed figures visible while the robot is drawing. Of course TCP trace show the path and then the drawed figures but obviously they are not shown on the box surface. Is there a way to do that?
Thank you in advance!


  • Actually now it shows the drawing on the correct place, I don't know why it was not working like this before (and I did not change anything actually). By the way I have another question, is it possible to turn on the tcp trace from rapid code and turn off it when not required? Because I have to do drawings on a surface but I don't want to show the line while the tool moves from one drawing to the other.
  • graemepaulingraemepaulin New Zealand ✭✭✭
    You could create a smart component and use the TraceTCP component with a signal that you turn on and off from your RAPID program. 

  • Yep, at the end I find it! Thank you a lot anyway!!!
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