You should think of the RobPathRec Pen as a tool for the robot and determine the TCP accordingly.
The Pen has its own TCP, which must be in alignment with the actual tool on the robot.
At the beginning, you use a tool that is centrally and centrally mounted on the flange, and its Z+ direction is directed as in the figure here:
Ideally, the tool is straight and rotationally symmetrical, so that the X and Y orientation can be negligible.
Such a tool, for example a point, is suitable in the learning phase. Complex tool geometries can thus be set up more easily later.
Define Tool TCP #
It is recommended to start with a rotationally symmetrical tool, which is fixed on the center of the flange. Almost as an extension of axis 6. Then you can easily determine the TCP with the 4-point method and save it in RoboDK.
You can best define the tool TCP in RoboDK according to this guide:
You can find a video tutorial from RoboDK here:
Starting with a more complex tool #
If you have to start with a different tool, please make sure that the tool TCP and the pen TCP are adjusted to each other.
Please note: in the pictures, only the Z axis is adapted to the pen! To adjust the X and Y axes, take a point with the pen and then adjust them accordingly.
Test your settings #
Ideally, set up the base stations so that they face the robot, so that the robot does not cast a shadow on the laser beams.
- Place the printed calibration sheet in front of the robot.
- Start the RobPathRec app
- Click Start Recording
- Calibrate 0, X, Y, as prompted in the app.
- Record a single point. The best at the zero point of the calibration sheet.
TCP finetuning #
Now adjust the tool TCP to the coordinate system of the point.
Autosave - avoid accidental values
WARNING! The values are automatically adopted without additional saving!
Check the result #
Check the settings: Use the Teach Pendant to move the tool in X+, Y+ and Z+ directions. If all 3 travel paths took place in the correct direction, the settings are correct.
Here is, the orientation of the tool and the point that was recorded are identical. Thus, it will also match in the path recording.
Multi angle tools
Please note: if you have multiple angles on the tool, this method becomes more and more complicated.
For complex geometries, there are ways to adjust the TCP at certain areas of the workpiece separately and thus form segments.
These can be put together later. Alternatively, the “Save Master Orientation” function of the RobPathRec tool can be used. In this case, the orientation of the tool is fixed and only the X, Y, and Z coordinates are recorded.
There is also the possibility to fix the RobPathRec Pen to the hand tool using an adapter.
Depending on the fixation, you should determine the offset and possibly the orientation and can thereby determine the TCP of the hand tool. However, these are advanced solutions, which are only recommended when the basics have been successfully acquired.
