Some of our Robots have never had TCP setup nor any tool weight/gravity information.
I'm not concerned about the Weight and Xg, Yg, Zg data since the robot will just assume worst case scenario for this to avoid internal damage. I will avoid setting this up since this change could change how the robot moves, affecting existing programs, and would traditionally require verification of all programs before continuing in Auto mode. This wouldn't be as big of a concern in automotive, but my cycle times here range from 45 minutes to 5 hours. The programs are very large and there are close to 100 programs in each Robot (High mix- Low Volume environment). Please correct me if I'm wrong here.
I am seeking opinions on whether I should set up TCP on these Robots that have been running programs for a few years now without TCP set up at inception of the cell. So far things run decent as I use TAST and searches. There is usually daily reteaching since parts are fit up a bit differently by each man, parts are cut and formed inconsistently too. No fixturing is used for fitment but this is changing next year.
If I set up TCP, all existing programs will need to be verified fully (this takes easily 4-8hours per program). It's maybe possible to use the PMT function to speed things up here to bring the Robot closer to the mark, but will likely still require re-teaching?
What action would you take in this situation?