Universal Robots Forum

Set TCP by refering name from Polyscope-measured TCPs list

Summary

Set the active TCP by referencing names directly from the Polyscope TCP list.

What is it?

In URScript it’s only possible to change TCP data by set_tcp and a pose. It should be possible to reference measured TCPs from Polyscope with their associated name (TCP, TCP_1, TOOL_0…).

Why is it needed?

We are developing some applications where we change very often tools and measure the TCP with Polyscope 4-point method for position, then measure a Plane feature for workpiece origin calibration and then use that Plane feature to adjust TCP orientation. Our post-processor references that Plane feature with pose_trans(Plane, p[x,y,z,a,b,c]) which allows to adjust our process to variations in the workpieces. Problem is our tool is also often changed and re-measured and we would like to simply reference the TCP variable name measured from Polyscope instead of having to manually copy-paste the pose values to use with set_tcp.

1 Like

We would also need this function on the script level.