I don’t know how a ruler is used tell me instructions in clear and concise manner on what i should do to find the distance from the TCP to the tool flange. I want to input this measurement into the Z field.
It will be helpful to me if you provide screenshots of your own work.
Thanks,
I’m not entirely sure you’re asking what you actually mean to ask? Something lost in translation?
The TCP Z value must be the distance from the dotted orange line to the red TCP dot.
The red TCP dot is at 6cm and the orange dotted line is at 19cm. So the value for your TCP Z axis is 13cm → 130mm.
130mm isn’t correct… I tried that already I want to know how someone can teach me how to use the ruler above to find the distance from the TCP to the tool flange and find the value of the Z field. If there’s a mathematical formula for the TCP Z axis, please inform me about it.
If you have the tool shown in your image, then the settings in the Installation → TCP must look like this:
TCP
X: 0
Y: 0
Z: 130
RX: 0
RY: 0
RZ: 0
CoG (estimated)
CX: 0
CY: 0
CZ: 50
Is this maybe the online training, you are having issues with? Can you take a picture of the whole screen?
I’m with @efn on this one. You say it’s “Not right.” Is the online module saying you’re wrong? Because like sure maybe it’s not 130mm. Maybe it’s actually 128mm. And if the online module is being super picky then ok whatever. But if you’re programming your actual robot and you measure it to be 130mm, and you rotate/jog around your tool and it looks good to you, then it’s fine. At the VERY end of the day, the TCP is only there to make your life easier when it comes to programming. You could leave everything referenced to the tool flange and the robot won’t care. It will just be very difficult to program waypoints around your tool.
I’m just doing the online module without a physical robot. I inputted 128mm to the Z field in the tool settings already and it’s wrong.
Yup those are the exact fields in the teach pendant tool settings. It looks similar to that.
Can you show us a screenshot of the whole screen with the task and input fields?
Here. I put the ruler on the screen. It is 125mm.
I typed 125 in the box.
The tutorial moved on. I don’t really know why you’re getting hung up here. You can just click the “Next” arrow on the left and move on without typing ANYTHING. As long as you understand what they are trying to demonstrate, calling it 128mm or 125mm doesn’t matter. There’s no fancy mathematical equation. Heck, maybe in your actual application you’d prefer the grip location to be higher or lower than they’ve chosen in the module. It’s YOUR call.
Okay understood,
Thank you for your help.
I got it figured out the tutorial moved forward.
Thank you.
