TCP value change

    I have a problem regarding TCP Shift in YASKAWA robot .. somebody has teached almost 20 programs with tool 0 having no value in it.

    now i have to keep the teaching and also need to put accurate tcp values.

    is it possible that i can shift all programs accordingly new TCP or tool frame?

    How are your jobs taught? If they are in servo command (pulse counts) input your tool data. Nothing will be different in the jobs. If using interference areas or robot range limits they will have to be redone.

    If the jobs are taught in XYZ then that’s another story.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Are the positions teached in the program or are the variable positions?
    If they are variable positions you can convert them with this:



    CNVRT PX000 PX000 BF TL#(1)

    This is used to convert P000 from whatever (pulse,base,userframe etc) and what ever tool is used to BASE with tool 1

    You can make a simple loop like this and convert position 0 to 20 to userframe 63 with tool 1

    NOP

    SET LI000 0

    WHILE LI000<21

    CNVRT PX[LI000] PX[LI000] UF#(63) TL#(1)

    INC LI000

    ENDWHILE

    END

    Hope it helps

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