Dynamically Changing TCP for Milling Operations

  • Hello,


    I am trying to dynamically change the TCP of our spindle to be along the bit based on a specified cut depth. We have software that is sending XYZABC coordinates that are normal to the surface we are attempting to mill and we are wanting a pocket cut that follows the shape. If we are able to move the TCP by 1/2 an inch up, we should be able to do this successfully, however when running this code, it does not use the new calculated TCP but rather the one saved in TOOL_DATA[9].


    I'm honestly not sure where the error in this is as my program compiles correctly and when I attempt to debug and monitor my millingOffsetTCP values, they are populated correctly, the motion is just using the wrong tool. I am currently running KSS 8.5.8 on a KUKA KRC4 controller, and any help would be much appreciated! Thank you and have a good day.

  • AD
  • Did you use $tool_c to check? $tool is advance run $tool_c main run. So the tool of the currently running motion is tool_c.


    Fubini

    Thank you for the tip, I added a wait to stop the advanced run and everything is working properly.

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