I just got a new cell in a couple of days ago. They came in half way programmed. Long story short, they are mig welding robots, and I need to change to a longer neck. I know that when I update the TCP, it will throw all points off. What is the quickest way to get them back. I know there has to be a way to offset them, but not sure how.
TCP change?
-
Beavissp82 -
February 7, 2019 at 3:46 AM -
Thread is marked as Resolved.
-
-
That's the purpose of a TCP. When you update the TCP then your points should be good for the new tool.
Sent from my SM-G930V using Tapatalk
-
Just teach the new TCP via 3 point method, or 4
Sent from my SM-N950U using Tapatalk
-
I understand the TCP part. After I set it up, my programs are gonna be about 6 inches off. I won't be able to follow any path without running into the fixture. Surely, there's a way to offset programs accordingly to the TCP.
-
In that case the old or the new TCP is wrong measured or not at the same place of the tool.
Hard to get a solution for that. -
I've had to recover cells like this where the original path was taught with a junk TCP.
First teach a proper TCP for your tool, use a UTOOL that isn't used anywhere else.
Then, use the Tool Offset program under utilities menu to convert your bad TCP path to you newly taught good TCP. You will want to use the convert type of "Robot fixed".
Run the path on your new good TCP to verify it worked.
Mechanically swap tools, and then update your TCP by reteaching for the longer tool.
Rerun path. Should be good.