[ht133magnolia]

Hello,

I want to keep an initial clearance of 0.35mm between my TCP (nozzle tip) and the print bed (reference frame). That way, when I am printing, my filament paths are slightly pressed. For context, my layer height is 0.4mm. 

My understanding is that the TCP will always touch the reference frame during robot operation. Please correct me if I am wrong.

Do you have any advice on how I can achieve this clearance?

Thanks for your help.

[ht133magnolia]

EDIT: Currently, I intentionally put a value of Z which is slightly higher than the actual position of the reference frame. That way, I always have a clearance. However, I am not sure if I am really getting the accurate gap. Sometimes it seems higher and sometimes lower.

[Albert]

The clearance can be defined on the targets or the tool.

I recommend you to define the clerarance in your tool (TCP) because you can define it only once and it applies for the complete program without having to modify the targets. This is a common practice with robots. The position of the TCP (clearance distance) should be respected.

However, you may face robot accuracy issues if you are aiming to maintain an accurate gap of less than 1 mm.

[ht133magnolia]

Is there any explicit option to define the clearance in the tool (TCP)?