[hcorcoran]

Hi, 

I'm quite new to RoboDK and robotics in general so I'm sure this is quite simple but I can't find an answer anywhere. I am going to put an LED light at the end of a Kuka IIWA and then move it to multiple known points around a hemisphere so that the LED is always pointing at a given XYZ in the centre (the middle of the equator). 

I have tried to set the TCP at the XYZ but how do I then move the end of the flange to a point without the TCP also moving? I need to have the LED in a specific point but can't see how to define this. 

Many thanks in advance,
Hannah

[Albert]

I recommend you to make the tool center point (TCP's XYZ coordinates) the point that should be at the center of the sphere when you move around the sphere.

Afterwards, if you want to maintain another point static you can change the TCP to another location and keep that point static.

If you can provide your RoboDK project file we may be able to help you better.

[hcorcoran]

I recommend you to make the tool center point (TCP's XYZ coordinates) the point that should be at the center of the sphere when you move around the sphere.

Afterwards, if you want to maintain another point static you can change the TCP to another location and keep that point static.

If you can provide your RoboDK project file we may be able to help you better.

Thank you Albert, 

I have placed the TCP's XYZ coordinates (yellow disk) directly along the y axis from the tool frame so that they are aligned with the flange. Is it then a case of manually rotating the flange until the yellow disk is lined up with the centre of the sphere (grey disk)? That doesn't sound very accurate?
I have attached my project so you can hopefully make out what I am doing. The targets are the positions of the LEDs without the correct orientations. 

Many thanks for your help,
Hannah

[Albert]

It looks like you moved the geometry of the tool but not the TCP. You should update the coordinates of your TCP first, then, teach the targets again.

[hcorcoran]

Thank you, I shall give that a go.