We have tool that is rather long and is mounted on on the robot flange with a rotation on x and y axis (see picture).
We received cad data of the gripper, so we could find the coordinates for the tcp.
However I am afraid that in practice there will be multiple tolerances, so the cad data might not give the exact physical tcp.
The most important is that the tool arm is vertical towards x- and y-as (as in the picture).
If it would be that in practice I have to corrigate to have a perfect vertical position of the gripper, what procedure could I do?
I know there is a tool configuration procedure with multiple positions while the tcp position stays the same.
But are there other ideas for if f.i. the rotation along the x-as has to be adjust to achieve perfect vertical position?
Tool configuration
-
Plc_User -
November 30, 2018 at 11:40 PM -
Thread is marked as Resolved.