I have the following Problem. I set up the TCP which is (0,0,60) x,y,z. When I Rotate the RZ Axis , the TCP is supposed to turn around a fixed Point but instead it slighty moves in X any Y direction aswell so after for example a 60 Degree turn, the TCP is offset from the Center Point.
How Do I Fix that ?
I tried setting up the TCP via Teaching Points which worked but then I have different variables for x and y which for me makes no sense because it should work with (0,0,60)
It sounds like there is a mechanical issue with your EOAT. What does your tooling look like? Are you visually referencing the tool itself during this rotation, or a part gripped by the tool?