I have discussed with a partner (who have no personal experience with ABB programming) about robots, and programming.
I also have no experience with Yaskawa programming, hovewer I saw him when he stucked with a circular fillet weld with a Yaskawa, because the robot had some TCP problems.
I thought, it should be a five minutes job, to teach this task with our ABB. I did not understand exactly what was his problem with the Yaskawa, but it seemed a little bit more difficult to me compared to rapid.
So when we discussed on the exhibition, I told him (BullsEye) TCP measuring, and correcting device is very useful in series production.
He told me, in the case of Yaskawa automatic TCP correction works only with "relative job" and doesn't work with "pulse job".
Relative job does not store the jog orientation data, only the pulse job.
He told me, in some cases when the path is programmed in "relative job", and the 4th-5th-6th axes are nearly in a linear position (like this http://www.metalworkingworldmagazine.com/files/2014/04/…kawa_MA1440.jpg), because of the "singularity", somtimes the 4th axis can be turn into opposite position (with 180° difference), and can cause collision.
So they do not recommend to use TCP correction, and/or the "relative job".
So the TCP correction doesn't work, when you use jog movements (?)...
As I know, there isn't any similar situation in the case of ABB.
I did't learn any difference in programming when I use TCP correction and when I not.
On the other hand, I am not an expert of the topic
According to my experience, the BullsEye, and the automatic TCP correction is very very useful in series production (in the field of welding).
Is it really "dangerouos" when it comes to ABB?
Thanks for ligthing me up.