[Knappe]

Hi guys,

In order to place a TCP or target, I have to enter the value of the XYZ axis manually. This is time consuming and not precise.

How can I place a TCP on a 3D drawing point?
How can I place a target on a 3D drawing center point of a cylinder?

Here are two photos as example where I had to place my TCP and target manually.

       

[Sergei]

If you have some ref. frame and you need to place TCP at the root point of this frame, you can copy the coordinate values of this reference frame from the Options tab and paste them into the corresponding fields of the TCP robot position.

Make sure to use the same coordinate system:

   


If the imported model includes the required point, you can split the model to copy the coordinates of this point (taking into account the reference frame to which it is attached):

   

You can also use Tools - Measure, but there may be a slight loss of accuracy:

   

[Knappe]

Hi Sergei,

I don't understand that. Can you please show me on my project the fastest and most precise way. I want to create a target on the top and center of the circular weld-on nipple and a TCP on the tip of the laser head, as shown in the screenshot.

It would be super helpful, more precise and much faster if I could automatically select the points for TCP and target in my future projects.

   

[Sergei]

The fastest way:

1. Create a zero world frame (0,0,0,0,0,0)
2. Use Tools - Measure (with the “Absolute” option).
3. Copy the XYZ coordinates to the robot tab (where the created zero world frame is already set).
4. Create a target (don't forget to select the ref. frame you plan to use in your program).

   

The most accurate way is to import the necessary geometric features (eg. points or curves) using our CAD plug-ins:

https://robodk.com/doc/en/Plugins-CADCAM...ginsCADCAM

[Knappe]

Hi Sergei,

Thank you very much for your explanations. I have reproduced it successfully.

Can you also tell me how I can align the TCP exactly with the welding tip?

   

[Sergei]

   
There are several options:

1. Use mechanical datasheets and input appropriate data
2. Use external CAD for measurement and TCP import
3. Use Utilities - Define Tool Frame (TCP):
https://robodk.com/doc/en/General.html#CalibrateTCP

   

4. Use Tools - Measure in RoboDK

For this, I recommend dragging and dropping the tool model to the reference frame, the same as World Zero, to perform proper measurements.

First, measure the endpoint with the following filters:

   

Second, measure the necessary angle:

   

The angle you need is 180 - 90 - (180 - 115) = 25

Finally, you can copy and paste  measured values to the real TCP:

   

[Knappe]

Hi Sergei,

I used the Tools - Measure in RoboDK. With the right filter it worked. Thank you very much.