[Omoikane]

Hi,
I am trying to program a Remote TCP following your windshield glue dispensing example, and I just can't get it to work. My application is a hot wire cutting application with the wire fixed on table and a moving workpiece holding by the robot.

I tried defining the hot wire first before bringing in the robot, or bring in robot then define hot wire, but both will give me different behavior. The curve is exported from Inventor using the plugin. I setup the Object Name, Robot Name and Tool Name (hot wire). I also tried setting it with Reference Name (hot wire) and Tool Name (robot gripper). But they all have the similar problems in the end. Here is my problems:

1) I cannot align the toolpath on the gripper. Following the tutorial, I update it by dragging the path to the robot. But updating the TCP and/or moving the path will never get them align correctly. The graphics will not update, and/or the path will be someplace else. I can't find a way to move it back.
2) I can't "undo" my mistake by moving things back. For example, update the reference frame values (doesn't matter which one) will keep drifting it to some other place. For example, if I set +1000 on x to be wrong and want to move it back, putting -1000 back and update will not undo the move. In fact, it will just keep going somewhere else.
3) The path after importing to RoboDK is just some random position. I can't make sense out of the position of the path OR moving it to some place I want (see 1 and 2). 

I attached the files. Any pointers will be greatly appreciated.

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I worked on it a little more, and you can see that the cutting path is somewhere else (not sure where). I can't seems to get the curve and remote TCP setup correctly.

[Omoikane]

OK, more weird things happen. When I am in trouble, I just need to restart the program and the reference or target points will fix itself. I worked on the model some more and getting very close to what I need. However, there are a few things that's not making sense to me. I attache some pictures and files.
1) How should I setup Inventor plug-in to export? Meaning what should be my Reference and Tool? It doesn't matter what I tried, I ended up spending a lot of time moving and rotating it to the right place.
   
2) I don't understand the logic of the setting of the tool path. The path "wing curve" is now a tool under the robot. The TCP reference to the flange, and I used the Move geometry to move it to the right place. Shouldn't I set the TCP to be the same as the gripper? (No, it didn't work for me for some reason. May be the logic should have it reference to the flange?) 
   
3) I spent a bit of time to "export" the CAD model of the gripper correctly so it will attach to the tool flange correctly. Can you explain the origin of the CAD model/gripper and the relation to the flange, and then the tool TCP? (This is relate to 1 above.)
4) Can the Inventor plug-in export sketch? Or "feature" only?
5) In this model, the "hot wire" is the remote TCP. Is that how the code is generated? Meaning if I move the TCP, can I "teach" the robot the location? I know how to teach the robot remote TCP using the teach pendent. But based on the code, I don't know if it was coded to reference it as a remote TCP. (It said #BASE.) I like to remote the code so I can teach the remote TCP to the controller using the teach pendent.
Thank you for answering the questions.
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[Albert]

For a remote TCP setup I recommend you to properly enter the geometry of the curve attached to the tool by entering the correct transformation in the Move Geometry pose.

You should also properly setup your coordinate system as if the Z axis was the cutting axis.

See the attached sample project and image.