UTOOL has always confused me. When I used a pointer tool i had to move all 3 axis around another point. In my real world robot now all it is is a vacuum gripper. All it does is rotate 360 degrees. Do I need to teach all 3 axis when using this, or just the J4? Same for the Uframe, I don't have a point, so I do find the center of the vacuum gripper and move it to 3 spots?
UTOOL with only 1 movable axis
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cat91345 -
June 20, 2022 at 6:50 PM -
Thread is Unresolved
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In the topic you talk about one moveable axis, then you have to move 3 axis, and at least you ask for moving j4 which I think means joint 4 so the fourth axis.
But most standard robots have 6 axis.
For measuring a utool, you always have to move the robot to at least 3 positions where the desired tcp is positioned to one tip. In most cases (think nearly all) there will be moved all axis of the robot to reach the tip in all 3 positions.
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Is this a four axis robot? If so, you'll need to input the TCP directly.