[IMPLEMENTED] Ability to rename tool center points

Product Wishlist
1

I am designing a quick-change eoat system for our shop, and we will be switching out various tools regularly, all of which will have different weights, center points and applications. I don’t have the ability to name them anything other than the default TCP_1, TCP_2, etc., which will make it difficult to keep track. Can the ability to rename these be added?
Thanks,
Anna

Edit: To elaborate on the use case as requested…It would be helpful to be able to either rename or reassign values of the TCPs from a URCap. That way whenever I change the end of arm tool on our UR5, I can either A)choose the correct TCP for the tool I’ve loaded from an appropriately named list or B)reassign mass and location properties to TCP_1 from a stored database to match the installed tool.

3 Likes
2

@anna
This is currently not possible (PolyScope 3.3.4), as they are named “TCP”, “TCP_1” , “TCP_2”, …
However consider elaborating on the use case for this, e.g. being able to create and name TCP’s from a URCap.

3

I also find the ability to name TCP useful. We work with various grippers that are not URCaps. I calibrate them by the standard procedure. Then I would like to give them distinctive names, like “Gripper ABC” or “Gripper XYZ”.

4

Although it’s not currently available, changing TCP in a program is done by simply calling set_tcp() script function. You could create functions with TCP offsets (expressed as poses) in BeforeStart section, and then just use set_tcp() function to switch between them. You can even ask operator (using Assignment with dialog box) to select tool.

Example:
BeforeStart
gripper_abc := p[0.0, 0.0, 0.1, 0, 0, 3.14]
gripper_xyz := p[0.0, 0.01, 0.05, 0, 0, 0]
Robot Program
…
set_tcp(gripper_abc)
…

1 Like
5

:evil_laugh: :smiling_imp:

changed_tool_name

So it is possible. Still need to check, if it causes any interference on real robot, not in simulator. In simulator every function seems to work, shows new name and does not seem to care, that it is not TCP_nr.
Looks like it is just a matter of interface.

2 Likes
6

Is something you made from the URCap API or other?

Thank you,

Matteo Timossi @recognitionrobotics

7

I modified installation file. Simply change text “TCP_1” in name attribute to what you want. Robot doesn’t care.

<com.ur.view.tcp.domain.TCPSettingsImpl activePose="Knife" toolPayload="3.8" centerOfGravity="0.0, -0.18012999999999998, 0.09">
    <availablePoses>
        <tcp id="6320478e-d443-452e-8b87-4ec8f2cd7155" name="Camera" offset="-0.09733, -0.24237999999999998, 0.079, -2.2215, 2.2215, 1.0E-4"/>
        <tcp id="5c8da0f9-85cd-4061-93f2-e91b583508bb" name="Reference" offset="-0.22906, -0.00791, 0.12966999999999998, 3.14159, 0.0, 0.0"/>
    </availablePoses>
</com.ur.view.tcp.domain.TCPSettingsImpl>
1 Like
8

Thank you @dozminkowski, something useful for me in the future!

Regards,

Matteo Timossi @recognitionrobotics

9

This feature is now possible since the release of PolyScope 3.8 / 5.2 and SDK 1.5.0.

1 Like