Hello, I would like to ask you some questions about the end of the robot.
If I add an end-effector to the end of the robot, how do I know the coordinates of the center point of my end-effector?
Whether it can be resolved by some instruction in UR script. The only way I can think of is by adjusting the location of the original TCP. Do you have any good methods, or how do you deal with it?
Use the built in function from the teach pendant.
Move the robot so your “tool tip” is aligned to a fixed tip in the workcell.
“Tool tip” could be a sharp stick grabbed by your end effector or any distinct feature you want to act as your tool reference. Click on “Set Point 1”.
Repeat this 4 times when the robot is moved so the “tool tip” and fixed tip is aligned from different directions (more change in orientation between positions, more accurate result).
The system will then calculate the appropriate TCP for you.
Ok, this looks like a fast and accurate way to set up TCP, so I’ll try it out right now. Thank you very much.
FYI - there’s a video on this (plus lots of other useful tutorials) on the UR website. it’s under Training & Services > UR Academy > Free E-Learning.