Greetings. I'm doing the TCP of the tool, but the result is very high, I have already mastered and checked it, even so the error is very high, opinions? Grateful.
TCP error
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silvanofilho -
April 19, 2021 at 9:23 PM -
Thread is Unresolved
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make sure that robot is anchored properly on a solid foundation. if you are measuring TCP while robot is on a flimsy wooden skid or just sitting not-anchored on the floor you can expect bad result. if robot is not anchored, you or someone else can get hurt badly and robot can be damaged.
make sure that tool is actually attached correctly. this works only if tool is rigid and secured properly. loose or flexing tool or tool that is attached on something that is not rigid (cylinder etc.) is not good.
and make sure your TCP is not 2 meters from the robot flange. the closer the better... for small robot 100-150mm should be the goal. larger robot up to 300mm or so. keep it close to flange if you want accuracy.
next make sure to have a good point on the tool. something with a sharp point. that could be a TCP. if your TCP is not on a solid point, you need to create a jig with solid TCP point. if your tool is an array of vacuum cups (ie. no sharp point anywhere) or it is for whatever reason unwieldy, you need to have an option to mount temporary pointer. normally this is a scribe-tool with threaded end for easy removal. note that although this pointer is removable, it is now part of the robot supply so that TCP verification and recalibration can be performed.
next you need a stable (solid) reference point. this will be used during tool calibration and it can be any point in space that robot can easily reach with different tool orientations. this can be temporary bit it has to stay in one place during calibration. preferably this too would be a pointer. i prefer to use countersink magnet or base of a magnetic hook and replace hook with a pointer or just bend the hook out and sharpen it. this is cheap, easy to attach pretty much anywhere and can be easily removed.
it does not even need to be straight... and who does not like magnets...
if you cannot get both TCP and reference point pointy, that is ok. as long as one of them has sharp point you are in luck.
using this one should easily get 0.1mm error or so in one or 2 tries. my eyes are not quite what they used to be but i can still easily do 0.3mm in first pass and in no time.