01-08-2026, 05:51 PM
Hello everyone,
I hope you’re all doing well.
I have a question regarding creating targets on a surface in RoboDK.
I built a simulation with two conveyors and a 6-axis robot that places six cylinders onto a box. To prevent collisions, I used the “Teach target on surface” feature so the cylinders would not go through the box.
However, I later realized that RoboDK is using the end of the gripper as the contact point instead of the bottom of the cylinder. As a result, when the robot places the part, the cylinder penetrates the box, even though the target is on the surface.
I have already spent a couple of days developing this program, so I am trying to avoid deleting or re-teaching all the targets.
From what I understand, this issue is related to the TCP definition.
What is the correct way to:
Define the TCP at the bottom of the cylinder, and
Apply this change to an existing program so the surface targets work correctly without erasing previous progress?
Any guidance would be greatly appreciated. I attached my station below. Click on the main program to see the complete program. The targets for the box are under the conveyor in.
Thank you!
Conveying Second Draft.rdk (Size: 1.77 MB / Downloads: 44)
I hope you’re all doing well.
I have a question regarding creating targets on a surface in RoboDK.
I built a simulation with two conveyors and a 6-axis robot that places six cylinders onto a box. To prevent collisions, I used the “Teach target on surface” feature so the cylinders would not go through the box.
However, I later realized that RoboDK is using the end of the gripper as the contact point instead of the bottom of the cylinder. As a result, when the robot places the part, the cylinder penetrates the box, even though the target is on the surface.
I have already spent a couple of days developing this program, so I am trying to avoid deleting or re-teaching all the targets.
From what I understand, this issue is related to the TCP definition.
What is the correct way to:
Define the TCP at the bottom of the cylinder, and
Apply this change to an existing program so the surface targets work correctly without erasing previous progress?
Any guidance would be greatly appreciated. I attached my station below. Click on the main program to see the complete program. The targets for the box are under the conveyor in.
Thank you!
Conveying Second Draft.rdk (Size: 1.77 MB / Downloads: 44)