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New robot tools / read tool-coordinates automatically
#1
Dear forum users,

I am new to RoboDK and wonder if there is a possibility to define the TCP without entering the coordinates manually? Can RoboDK somehow receive tool coordinates from the robot control if a new tool is used, in order to minimize manual input? Im using a KUKA KR 16 with a KRC4 control.

If you have an answer, please let me know!
Thank you for your help in advance!

Have a great day.

KatCla
#2
Hi,
Do you try to use this option: Utilities -> Definne Tool Frame (TCP). See picture in attachement.

More about this option you can find here:
https://robodk.com/doc/en/General.html#CalibrateTCP

Best regards,
Piotr


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#3
(11-06-2020, 02:24 PM)Piotr K Wrote: Hi,
Do you try to use this option: Utilities -> Definne Tool Frame (TCP). See picture in attachement.

More about this option you can find here:
https://robodk.com/doc/en/General.html#CalibrateTCP

Best regards,
Piotr

Hello Piotr,

thank you very much for your quick response!

I've already read this documentation. In my understanding this calibration method is just a different manual method for defining the TCP pose? Please correct me if I am wrong!

I need a solution to automatically adopt the TCP coordinates from the robot control.

Thank you for your help,
KatCla.
#4
Hi KatCla,

As for now, there is no way to retrieve the active TCP from the robot controller.
I would personally know how to add that with certain robot controllers, but unfortunately for Kuka, it uses the "KukaVarProxy" on which we don't have much control.
So I'm not so sure it's possible the "traditional way".

But there might be a solution if you are knowledgeable enough with Kuka (which I'm not).
Is there a way to retrieve that information using socket messaging or any other communication you could access using our API?

If it's the case, you could open a socket communication using Python (C++, C#), grab the TCP value, and apply it to RoboDK.

Here's the API documentation.
https://robodk.com/doc/en/PythonAPI/intro.html

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#5
(11-06-2020, 03:32 PM)Jeremy Wrote: Hi KatCla,

As for now, there is no way to retrieve the active TCP from the robot controller.
I would personally know how to add that with certain robot controllers, but unfortunately for Kuka, it uses the "KukaVarProxy" on which we don't have much control.
So I'm not so sure it's possible the "traditional way".

But there might be a solution if you are knowledgeable enough with Kuka (which I'm not).
Is there a way to retrieve that information using socket messaging or any other communication you could access using our API?

If it's the case, you could open a socket communication using Python (C++, C#), grab the TCP value, and apply it to RoboDK.

Here's the API documentation.
https://robodk.com/doc/en/PythonAPI/intro.html

Jeremy

Dear Jeremy,
thank you very much for those information!

For me it is the first time working with KUKA as well as RoboDK, so at present I am not sure which type of communication is available.

Anyhow, it is goode news that there is in general a way to grab the TCP values.
Thank you for your help, at least I have a new point of reference and an idea what to search for.

KatCla
  




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