I have run into multiple occasions where I am dispensing on a part with a robot. Sometimes the robots are 4-axis, sometimes 6-axis.
The dispense tip is exchangeable and therefore has a varying amount of bend to each tip. Our mechanical engineers designed a bracket with 2 intersecting lasers that I am supposed to use to recalculate the TCP.
The problem is that I am not sure what to base the recalculation on. I have tried finding the center of where the two beams cross by taking the average of where the sensors come on, on the left and right side of each laser. This gives me a center point, and then I find the deviation in the tool by comparing where the laser comes on to where the center point had been assumed. I also find the Z of the tool by rising in Z until the laser has turned off.
This works only okay, but it is not very accurate because the tool that I am using to calculate the center point is not accurate either.
Does anybody have a better, more accurate way of recalculating the TCP based on two intersecting lasers?
Thanks in advance.