I am looking for an in-line command (or similar internal function) for an ABB irc-5 that will shift the origin of my Tool Center Point.
- I have a tool with a spike mounted to it. I play to a recorded position that has the tool mounted spike touching tips with a seperate spike mounted in the robot workspace (a TCP check position).
- Now I replace this robot mounted tool with a spare tool similar to the existing. The new tool however, when played to the TCP check position, is off location (the two tips of the spikes no longer touch).
Is there a way to jog the spikes back into position, then update the TCP????
I am unable to manually measure the difference between the tips of the spikes and insert that difference into the tool data, for the accuracy of the TCP is not sufficient by manually measuring. This particular process (scribing application) requires the TCP of a newly mounted tool to land precisely where the previous TCP was located on the tool . I understand tools are typically made identical and wont require a TCP shift when mounted, but in this instance my tools are roughly 10mm different in x,y,z.
Any suggestions are greatly appreciated, Thank you all!!