Multiple TCPs for grinding

    I am currently undertaking a grinding project with the FANUC LRMate 200iD.

    The grinder is equipped with a rotating bit, as shown in the image below. Another image demonstrates the placement of parts and the grinding process on the bit. The parts are transported from a board, for which I have created a distinct Tool Center Point (TCP). I now need to develop an additional TCP for the grinding machine.

    2. Can multiple TCPs be utilized within a single code?

    3. What steps should I follow to create the second TCP? Which method should possible? is it 2 point + Z method?

    I would appreciate any guidance on these questions. Thank you.

    If the grinding bit is stationary and the workpiece is held by the robot, then you usually use Remote TCP (software option).

    It's not possible to use more than 1 TCP at a time, not really sure how that would work.

    But you can have a bunch of different TCPs (tool frames) and switch between them from one motion instruction to another.

    If you don't need the axes of the tool frame to be other than parallel with "tool frame 0", then you don't need to use any of the 6-point methods.
    Otherwise, I guess it comes down to your preference.

    (Best would probably be to use data from a CAD file)

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