tcp

    Why do we set tcp of robot? If we don't set TCP what will happen? what are methods to set tcp? Usually i use to put x,y,z values or by using six point method to set TCP. But if we don't set it, will the robot execute the program properly or will the will the robot go to the point which is taught? can any one help me giving this answers.

    The {X, Y, Z, RX, RY, RZ} points in the robot space to which the robot moves are taught with a TCP that is active during the task of teaching. During the program the robot will move the currently active TCP to the point that is taught in space.


    The "Tool Coordinate System" is located at the tool flange by default. The default TCP ("NULL tool") is normally located on the face of the tool flange and oriented using the tool flange dowel hole in some manner. If your robot has a welding torch, gripper, dispensing head, etc., then it makes sense to use coordinate transformations to "move" or transform the NULL tool to a convenient location such as the welding torch tip, center of gripper jaws, etc. In this manner it is possible to place the working part of the end effector at the point of work and teach a useful point.


    In a program, the robot only knows to move the currently active TCP to the previously taught points in space. So if you have the wrong TCP invoked at run time, your application will not work properly (and probably crash the tool).


    Example: teach a welding application with a TCP set at the welding torch tip = {100, 200, 300, 45, 90, -90} relative to the tool flange. In the program, mistakenly set the active TCP to NULL tool {0, 0, 0, 0, 0, 0} and execute the program. The robot will attempt to move the tool flange to the taught points, not the welding torch tip to the taught points.

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