Greetings, it's been a while.
We have a new PZN+200-1-AS-SD, it is replacing a PZN+200-1-IS. They were made to be interchangeable incase we needed to substitute one for the other. There are differences in diameters due to the dust shrouds and an 8.55 mm difference in the Z of the TCP. I tried using the defined TCP of the old unit for the new one while only changing the Z of the TCP, the height was correct. However, I found that the robot did not go to the proper pick up place. next, I defined a new TCP using the same tools as used for the older one, they were different. I again tried to go to the intended target with the new TCP, it did not go to the correct place. Why?
What is the best way to setup the new PZN without having change the program, as I want to be able to use either EOAT to get the job done? I was hoping that I could set a register up for TP selection to determine what EOAT was on. The registers would change the data that defines the EOAT and then just run that program using either head with no change to the program. Is this possible? If so can anyone help me overcome this first part of the robot going to the correct location so that I can move forward with the minor adjustments to compensate for the change in diameter.