Hi!
I have 2D Laser Scanner (ds1000 COGNEX) and connected via ethernet/ip with kawasaki. I want to get an exact tool center for its. Who has experience and ideas how best to calculate tool center?
Tool Center Point for 2D Laser Scanner
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Mr.Pavel -
July 19, 2019 at 5:09 AM -
Thread is marked as Resolved.
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Initially, the tool robot is on the middle of robot's flange. If you mounted that sensor and you want the tool to be on surface of the laser, you have to modify only the Z. But if you want to set the tool on a certain corner of the laser you have to set also the X and Y.
You need to have a point and with that position you will use the tool. If you dont want to change the tool orientation, you can set the angles to 0.
POINT point_tool = TRANS(X,Y,Z,O,A,T)
TOOL point_tool
Once, i had a laser sensor and i modified the tool by creating a small program in order to find the point. I found the point using trial and error.
I know that there is an auto tool measurement from the teach pendant. If you are using an E controller, you can find it in aux functions. I know that you have to save 6 points with different angles orientation. It is better to have a reference point.
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I have never used Cognex laser before, but I think the following may work.
I think you could use a+b compound method (AS Manual - Section for Unknown Tool may be 9.0 or 11.0) in conjunction with Cognex data.Install DTI somewhere so that it is parallel to robot and that:
- Flange can be driven to it without singularity.
- Attached tool can be driven to it without singularity.Remove tooling so just JT6 flange is available.
- Align JT6 flange using ALIGN to face down and parallel towards DTI.
- Find centre of flange with DTI detect and then move distance of recess away.
- Save location as position a (HERE a)Then move robot clear with minimum joint rotation applied (ie just Z+ linearly up and clear maintaining orientation).
Install Cognex and Tool bracket mounting wherever.
- Move again and make centre of laser plane parallel to DTI, you may be able to use software to display live (you would need to check) to use to detect.
- Then save location as position b by (HERE a+b)
- This will then create a location called b which contains distance from a.
- Then you create location (and name of tool variable) with inverse instruction called POINT laser_tcp = -b
- This calculation should provide correct XYZ and OAT distance and rotation values from centre of flange.
- This location can then be used with TOOL command to set tool (TOOL laser_tcp).How accurate this is would depend on how good your alignment is with DTI for location a and location a+b.
May be worth a go to see if results are good enough to put you 'close' then you could minor adjust it.