TCP Problem

    Hello,

    I have changed a robot's end of arm tooling. After doing this, I have touched the TCP using the six point (XZ) method and I am now having issues with my positions not matching. When I send the robot to a certain position, I get an error saying that the position is out of reach.

    My original tool frame had a configuration of FUT, 0,0,1 and now my new configuration is NDB, 0,0,0. How can I change my tool frame configuration? What dictates the tool frame configuration?

    I have tried to adjust WPR for both, my tool frame and also my user frame to see if I can get my current position to match my target position but I just can't get them to match. Any advice would be greatly appreciated!


    I also have a backup before modifying my tool frame. Can I restore my old tool frames from a backup?

    I would go under Utilities, Frame Offset, and copy your program to a new one using the new frame. When asked to convert positions say Yes. I'm not super familiar with problems from the tool frame standpoint but in user frames I've experienced this problem. If a position was taught in one set of coordinates (UF0, UT1, etc), and you're trying to go to the "same position" but now using UF1, UT1 or UT2, it's probably going to give errors.

    I would give that a shot, but just a guess.

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