Tcp offset?

Robot Controller
1

Hi everybody!

I want to define my tcp with an offset of x=73mm y=0 and z=423mm. the problem is that the tool doesnt rotate around the 6:th axis but around an axle parallell to it, with an offset of y 153mm (this axle is on the gripper, beltdriven by the robot’s 6:th axle…)

can this be done so I get a proper definition to my tool and use RS to make proper simulations etc, or am I forced to program the robot “the ugly way” with tool0?

Its an IRC5 robot, but might be used on a s4 later on too.

/Peter

2

Hi !

The tcp is always calculated from the 6:th axis (tool0). So if you want an offset of x=73mm y=0 and z=423mm from your parallel axle, you also have to add an Y offset of 153 mm to yor tcp.

3

Yes, but the center of rotation lies in the parallell axle and not in axle 6. I guess I have to make it the ugly way after all.. Thanx anyway.