Universal Robots+

Change Active (Set) TCP in the Move or Installation -> TCP Configuration interface

Hello!

We would like the possibility to change the active TCP from the selection of TCPs, without setting it as default or changing the values of the TCP.

Background:
If an operator or programmer would like to create a program with several different TCPs, while checking or setting up the program, the TCP would need to be changed.
Currently, the only way to change an active TCP from the Polyscope UI, no matter if it’s been set on loading an installation or running the script command set_tcp(p[x,y,z,rx,ry,rz]) or after setting as default, is to press on the button “Set as Default” or change the values of the TCP, then change them back.

Example:
My Default TCP is called TCP_1 with a TCP of p[0,0,0.1,0,0,0]. I ran a program which sets the TCP to p[0,0,0,0,0,0]. Now I would like to have my default TCP_1 as active TCP again. Either I set any other TCP as default, then set my TCP_1 as default again, or I change the values of my TCP_1 to anything else, then back to p[0,0,0.1,0,0,0]

Solution 1:
Create a small Dropdown list of TCP Configurations, including the currently Active TCP if it’s not saved, in the Move Interface where it currently shows the currently active tool, like so:


and

Notice the new Dropbox added in the pictures.

Solution 2:
Add a button in the TCP Configuration interface. On the CB3 there isn’t so much space, but I guess maybe besides the Dropbox, and on the E-Series, maybe a second row in besides the TCP dropdown.

3 Likes

Hi @r.larsson,

It make sense, an I like the concept. I have moved it to the Polyscope subcategory.

It is similar to this request

1 Like

How do you suggest handling these situations until you implement this feature?

You can use the test button on the set node

I think this would be even more valuable when the selected tcp is automatically configured when using the move tab in a waypoint creation case and inserted dircetly into the waypoint node config. This way, The user does not have to use the setnode for the tcp while programming any more.

1 Like