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 diffic…

This feature is now possible since the release of PolyScope 3.8 / 5.2 and SDK 1.5.0. [image] Release of URCap SDK 1.5.0, PolyScope 5.2 and 3.8 UR News & Announcements Universal Robots release URCaps API 1.5.0, PolyScope 5.2 and PolyScope 3.8 Universal Robots a…

@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.

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”.

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…

: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 inter…

Is something you made from the URCap API or other? Thank you, Matteo Timossi @recognitionrobotics

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-8…

Thank you @dozminkowski , something useful for me in the future! Regards, Matteo Timossi @recognitionrobotics

[IMPLEMENTED] Ability to rename tool center points

Product Wishlist

jbm December 6, 2018, 8:51am 9

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

Topic		Replies	Views
Changing TCP in urscript to TCP already created in the system URScript	6	1934	March 1, 2023
Set TCP by refering name from Polyscope-measured TCPs list Product Wishlist	2	859	February 28, 2023
Set TCP by refering names from Polyscope-measured TCPs list URScript	4	784	November 2, 2020
Add/change Payload and Center Of Gravity to allow for per-TCP values Polyscope	0	910	August 19, 2020
[IMPLEMENTED] Tool Center Point Config Product Wishlist	1	1039	December 6, 2018

[IMPLEMENTED] Ability to rename tool center points

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