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How to define a Remote TCP


so I'm using RoboDK a bit now and for now I only had to programm "normal" things. The Robot (UR5e) is holding the spindel and follow curves to do the job. Now I want to test the other way around, so the Robot is holding the part and moves to a Remote TCP to follow the curves and do the milling. 

So my question is, how do I define the Remote TCP? The Spindle is not on a fixed position and the jig that is holding the part is selfmade. 
Do I just use the Robotflansch to get the RTCP or or should i just feel my way around to get the right position?
Or do I use a probe before and get the position of the spindle and afterwards the Position of the part?

Thanks in advance.
You can find several Remote TCP examples in our online library:
(05-11-2023, 07:22 PM)Sergei Wrote: You can find several Remote TCP examples in our online library:

I think I described it badly. 

I know how to define it in RoboDK, I would like to know how it's done in real life to get the best result.

Has the RTCP a fixed position that is defined beforehand or is a probe being used that is mounted on the Robotflange to get to position and after that, mount the holding tool on the flange.
Most controllers don't support having a moving TCP (or a remote TCP configuration). In short, your coordinate system is attached to the tool and the TCP becomes your coordinate system. This means that when you change the tool orientation while moving on a straight line you may not see a straight cut.

To get around this issue it is better to split straight lines into smaller steps. If you can share your RDK project file we can help you better.

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