hello, i am working with motoman rx100 handling robots, i have laser cutting application, its fiber optic laser cutting technology, robots carring part upto laser cutting head, i have checked complete programme, in my programme there is no any tcp call, i dont know in motoman tcp is required or not in this type of application. the master programme, and complete programme is made by german team, but we have tcp jobs in job list. similarly for work object no calling in master programme, pls reply.
about tcp
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Rupesh -
July 4, 2014 at 5:34 PM -
Thread is marked as Resolved.
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the tcp depend on your tool. if you have only one tool, is active directly.
only when you want to call others tcp tool, or chenge the tool , you use the ,,call routine,, or call instruction for new tcp -
Hi , please confirm you have RX ( this is very old controller 1984 ) , or you really mean DX
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to switch between tcps you have to press shift + coordinate , you will get the list of tcp. you can select tcps to by this. In yaskawa you need not to call tcp before motion point as jobs are stored in pulse values which is tcp independent. tcp is just for your reference
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If the robot is moving the part around a fixed Laser using EX Ref Point (Option turned on by Yaskawa) would be the way to go. This would make the Laser the TCP