[Meryett]

Hi,

I'm using the "Define TCP" option to calibrate the Tool Center Point by providing a minimum of four poses (as required). The calculation seems to work fine, and RoboDK gives me the X, Y, Z position of the TCP.
However, I can't find any way to view the resulting orientation (i.e., the Rx, Ry, Rz values) of the calibrated TCP. Is this information available somewhere in the interface, or do I need to access it through a script?

Thanks in advance for your help!
— Mery

[Albert]

RoboDK does not calculate the orientation of the TCP when you use the Define TCP on one point. However, if you want to calibrate the orientation of a tool you could use 2 well defined TCPs and use the axis that connects both both points as the cutting axis or the Z axis.

For example, for a robot machining cell you can use 2 cutters with different length. Calibrate each of the cutters separately first, then, accurately calibrate the cutting axis (Z axis of the tool) by using our machining tools Add-in:
https://robodk.com/addin/com.robodk.app.machining-tools