Robot Tools - TCP (1/2) - Documentation

[@anonamos9489]

lots of info here.. gonna have to watch a second time at another time. nevertheless, great video jeremy and RoboDK!!

[@davidsteinhour5562]

I'm coming from Arduino and RasPi and ESP8266: cobbled-together hack job stuff. I'm taking a robotics class for my major and I am FLOORED by the thoroughness of RoboDK. Teach Target On Surface was my first hint that professional tools like RoboDK are worth their license price... because setting individual servo PWM values through trial and error SUCKS. LOL Thanks for the videos.

[@rahulfromkerala]

Thanks a million for the video...

[@RoboDK3D]

It's a pleasure!

[@rajmeetsingh1625]

Hi very nice demonstration. I want to animate the circular belt conveyor. In library there are only straight conveyor. I any help, highly appreciated. kindly share some link.

[@RoboDK3D]

It is better if you ask technical questions in our forum: robodk.com/forum/

[@EtherealWingsHarmony]

Only when purchasing a license can you use the online library function, right?

[@RoboDK3D]

The online library is accessible from your browser and you can view the robot in RoboDK and do basic operations with the free/trial license of RoboDK. You can find the robot library here: robodk.com/library

[@taavikoppel1769]

Why should the Z axis be oriented so that it is pointed out the robot. The TCP and an object on the table would like to match their coordinate systems. If the Z is pointed downwards... so the same would be required of the objects on the table... with the Z pointing downwards... and that just feels wrong...

[@albertnubiola6623]

Having the Z axis pointing in or out of the tool are both commonly used in robotics. I would say the Z axis pointing in is more common with CNC and Machining applications.

[@mil3k]

Your comment look like you never had a TP in your hand and didn't teach any industrial robot. Teaching robot a programmer swap coordination systems or frames to the most useful to reach demanded point. On the same physical tool you may have multiple TCPs. Setting the +Z axis pointing toward the Target will allow even the least experienced programmer always move robot in correct direction during recovery from a collision. One must remember to slowly move robot in -Z in ToolFrame. In my experience I met robot operators, who teach robots for years without even knowing that robots can move in Joint or Cartesian Coordination systems not mentioning about changing TCPs. The example you were talking about is true, if you work on a job which use offsets, such as pick and place or moving/shifting targets. In that case you create one UserFrame for the pallet and other UF for the part. In that case, if directions of axes in both frames corresponds then the calculation of offsets is easier. As well as teaching pick and place position and later touch ups. In my case, if the client's programming standard (or robot controller) allows that, I would create additional TCP on the corner of picked up part for better control.