TCP methods for grinding

I'm working on grinding something and using a FANUC LR Mate 200iD for it. I need to set up a new TCP on the grinder. What's the right way to create a TCP on the grinder?

Quote from pdl

You'll need to post more background information than that. Such as:

Is the grinder a wheel or a belt?

Is the grinder fixed to work cell, or is it mounted to the robot as EOAT?

Does the TCP need automatic adjustment for wear?

1. I appreciate your feedback. Thank you for guiding me. The context is as follows.

Is the grinder a wheel or a belt?

Is the grinder fixed to work cell, or is it mounted to the robot as EOAT? The grinder bit on the table as shown in the image.

Does the TCP need automatic adjustment for wear?

Yes. One TCP for the part pick up from the board and other TCP for the grinder automatic adjustment according to the grinder bit. I did the first TCP with 3 point method. I just can not figure out how to do the next TCP.

Quote from pdl

Do you have the Remote TCP option? That will make a huge difference in how you go about this, from planning to execution.

I did not look for the RTCP. What are the possible solutions for that?

Quote from pdl

Do you have the Remote TCP option? That will make a huge difference in how you go about this, from planning to execution.

How to know that the robot has the RTCP option? Thanks

Quote from gpunkt

Go MENU->SETUP->FRAMES, press F3 OTHER and see if it reads "User/RTCP" or just "User".

No, it has only five things. Tool frame, Jog frame, user frame, cell frame and cell floor. Is there any possible solution for that?

Quote from gpunkt

If you want to add a software option to your robot, you need to purchase it from your local FANUC company.
They should also be able to support you with manuals regarding this function.

Depending on where in the world you are located, the procedure to add an option to a FANUC Robot system will differ, but I guess that they will help you with it.

Yes, it is clear and appreciate your help.