Has anyone seen a method to calculate a TCP automatically with Fanuc robots? Apparently there is some option that allows the robot to "float" into some sort of fixture and the robot can then calculate the TCP.
Any info is appreciated,
RoboGuru
Has anyone seen a method to calculate a TCP automatically with Fanuc robots? Apparently there is some option that allows the robot to "float" into some sort of fixture and the robot can then calculate the TCP.
Any info is appreciated,
RoboGuru
Hello Robo Guru,
You can use an advintec LEONI TCP Calibration system. It works far any robot brand with many FANUC-applications. The system can calculate an arbitrary number of tools from scratch (absolute calculation of an unknown tool) in 5D or 6D. It can also do an absolute calculation of fixtures, user frames and external TCPs. The tools can have various geometries and sizes. The system communicates with the robot controller via the field bus which can be Devicenet, Profinet, Profibus, Interbus, EIP and so on. Tools such as drillbits, routers etc. Can be calibrated while they run. The system does not need real time data from the robot controller as it is capable of calculating all frame transformations in the workcell.
What do you want to use it for?
Can you tell me more about who/where you got your Advintec LEONI TCP Calibration system. Thank you
Does anyone else have any other suggestions for a TCP calibration tool? <6 axis GMAW Welder>
you can call Leoni and request information on TCP calibration system 248-484-5500 or visit there website Leoni.com
If you have vision you can use an IR vision TCP system. When setup right it works pretty good, I do like the ABB tcp system better though.
Do you want to recalibrate your tcp during operations or for the initial TCP setup?
I'm asking this because torchmate can calibrate your TCP easily on demand for GMAW welding robot.
I'm current working on a project were i have a tool that could change or bend and the physical tool tip will change over time. The theoretical tcp is not so complex, only approx +1500 mm in Z.
I am using collision skip and some calculations for recalibrating the tcp, and controlling that it still is within in the boundaries that i specified as ok. This is maybe not what you are looking for but in some applications this could be a solution, and it can be done in TP program.
You can do the initial TCP calculation as well as recalibrate with the LEONI system. It is an inline system and can recalibrate after each cycle or on demand, depending on wether you have enough cycle time reserve. For arc welding you can mount it on top of your torch cleaner and integrate it in your toch cleaning cycle.
The automatic initial TCP calculation is only needed once for each tool during setup (if you dont already have the tool data) and takes about 2,5 minutes to complete. After that when you have the tool data, you can recalibrate in-line. Here you have a choice of 2D(X and Y),3D(X,Y,Z) and 5D(X,Y,Z,W,P) calibrations.
Recalibration times are approx:
2D - 2 Seconds
3D - 6 Seconds
5D - 15 Seconds
Accuracy (data sheet) = 0,02mm