TCP configuration

As it is a virtual point with no physical reference objects you probably have to set it with direct numeric input. Or you could teach some physical reference frame, measure the offset to your virtual TCP and add the offset values to your reference frame

Quote from bigboss

any help????

As it is evident from the picture you attached, it looks like a point and the lights are on tip of the pointer. If my conclusion is correct, then you have to measure the distance of the tip of the pointer from the Axis-6 flange either physically or by the CAD drawing of you TOOL. You will have to input this distance in the Z value of the TOOL in the KRL. Also, you have to see if your tool pointer is not in line to the Axis 6 center, then you have to determine this shift in terms of X and Y direction and enter these values into the X and Y values of the same TOOL in KRL.

An honest suggestion: if you do not understand fully what I stated above or you are not experienced with BASE and TOOL concepts of Robot kinematics then go for KUKA training course and also read expert programming manuals. You can download these manuals from download section of this forum archive.

Thanks