# One point, two tools [solved]

• Hi everybody, i am solving this interesting problem and i would like to ask you for your opinion if its posible to solve.

I have robot holding two parts on oposite side of greifer and puting them to palet. To each palet position robot can put first or second part, depends on the plc signal.

I would like to make my program so i teach position with first tool and then somehow change tool number and come to same position. Position have to be in xyzabc becouse i use offset for them.

I tried to change FDAT parameters in program but i have problem with abc orientation, is imposible for robot to came to position.

Do you have any ideas?

• "Problem with ABC"? Describe the problem. In DETAIL. Your description is far too vague to enable us to offer any useful advice.

• 1. calibrate both tools
2. write program that moves tool1 to position P1, then retracts to P2 then moves tool2 to P3
3. touchup P1 and P2

Code
``xP3=xP2``

2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

• How are the tools defined? Did you only calibrate xyz with standard 4 point method?
You have to change abc in the tool definition for at least one of the two tools.

• With problem with ABC i mean that while point with tool1 have orientation A +90, B -20, C -90 the same point with tool2 should be A -, B +20, C +90.

As panic mode suggest i made this:

Code
``````XP3=XP1
XP3.A=XP3.A*(-1)
XP3.B=XP3.B*(-1)
XP3.C=XP3.C*(-1)``````

XP3.T=58

While changing orientation is easy i find it dificul to correct T for each positon. Also i would like to teach only four corner positions and calculate rest. Now o think it is problem becouse of T parameter.
Is posible to set robot to come to position in nearest (undefined) T configuration?

Tools are defined by direct numerical input. I check abc orientation so the movement is same.

• If You move linear T normally is ignored.
In such cases I use two different startpoints where the robot moves PTP, dependent of the used tool. From there the movements are LIN. Normally this works very well.

• Thank you, with linear movement it works great
Rest of the code remain same. Just copy point, change abc orientation and linear movement.

Thanks again.