On an Arc Welding system, you can only have one active TCP setting anyway for QTOOL ON which is in Aux 0304.
But if you do use Auto Arc Tool registration Aux 0410, then the value in Aux 0304 needs to be set to null values.
When complete, the calculated values are then stored in Aux 0304.
Which means if you are using BLOCK with QTOOL ON, then that would be TCP value used.
I do not know why KRG have said that regarding QTOOL, but I do know people at KRG whom I respect (and they will know more than me) so I would always trust what they say as being accurate.
I have never used tool adjust yet, but in order to use this you need to know/find out what values need to be applied and in what orientation.
I can only see a use for this, if you are using camera/sensor to feedback data for you.
If you have interference, then how do you know which values (XYZOAT) require to be adjusted otherwise.
I cannot comment on Kempii tool itself, as I don't know what it is, I do know Fronious for example, have a very good release mechanism for torch interference.
Your main problem is 'Why is Torch Interference occurring', this should not be part of any application.
- You need to resolve this, reduce the frequency, eliminate it completely.
- Does the kempii torch not come supplied with quick release mechanism, if not it needs it.
- You can always introduce collision detection function to help reduce impact force.