Help me find the TCP that is indicated in the pictures. On my robot, the "Z" axis is not correctly directed upwards. And it should be like in the pictures. In what parameter on a real robot can I correct the directions of the "Z" axis
Tcp
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ussr.inv -
August 16, 2022 at 9:52 AM -
Thread is marked as Resolved.
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Go to "controller" tab, and in tool you can change tcp coordinates and orientation
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also if you hit F1 for help in motosim and search for tcp you can get all possible information. That way you will not look lazy.
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I didn't ask the right question. Here is a picture on which CMOS.bin is a real robot in a factory. On this robot, the "Z" axis on the flange is directed upwards, but should be directed along the "X" axis as in the first picture. Where can I change the direction of the "Z" axis on a real robot. Let me remind you the image of CMOS.bin is taken from a real working robot and open MotoSim
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With this basic orientation, the tool is not created correctly
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If you want picture 2 to match picture 1, zero out the Ry on the tcp. Where you would do it in the real controller is ROBOT, TOOL.
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All thanks to "95devils". I understand what you write and I know very well about it. But the problem was that on an empty tool everything was zero, and the "Z" axis pointed up. By changing the FD61 parameter to "0", after rebooting on the instrument where it was zero everywhere, it began to show 90 degrees along the Py axis. Why this was done by the former owner of the robot remains a mystery to me. Well, to everyone else, note who is faced with such a problem.