What tooldata/tool that i need to use when defining work object? Help. is it always tool0 or use the tooldata that we have created for installed tool?
work object
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hazril3 -
September 1, 2021 at 11:25 AM -
Thread is Unresolved
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Most likely never tool0, there is no well defined point on the flange for teaching the work object. Certainly use the installed tool, providing that you have defined it well.
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When the robot tool lacks a good sharp physical TCP, usual practice is often to mount a temporary (fairly sharp) pointer to the robot tool, set that pointer up as a TCP, and then use that pointer to get better precision in touching off the three points for creating the Work Object.
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Backing up what he just said, I have used threaded rod ground to have a good point, then inserted into threaded hole. Take appropriate care to not injure yourself or others. I have even taped a pen to the end effector or fixture in order to teach.
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Yeah. A lot of integrators I've have a standard "pointer" attachment, and make their end effector designers include a mounting point (usually a threaded hole) on every end effector, located someplace that makes the pointer useful.
A lot of experienced robot programmers will carry one of their own, usually with a magnet mount, in their personal tool box.