Examples are valid for:
TMflow Software version: 1.76.6300 or above.
TM Robot Hardware version: All versions.
Note that older or newer software versions may have different results.

TCP #

The TCP (Tool Center Point) is the reference point for tool interaction with the workpiece. The TCP includes six parameters: X Coordinate, Y Coordinate, Z Coordinate, Rx Coordinate, Ry Coordinate, and Rz Coordinate. The TCP is attached to the end of the robot, and is referenced from the center coordinates of the flange.

On the robot, apart from the position and orientation reference values of the six elements, the tool weights and the inertia values can also be input to compensate the performance during operation to avoid misreading the effect of the tool on the robot as an external force. The TCP Setting can be accessed from the Robot Setting page.

Create Parameters of TCP with Hand Guidance Teaching #

Create Parameters of TCP with Hand Guidance Teaching

The principle of creating the TCP by teaching is to teach the robot to reach the same point in the space through a different posture, to calculate the position of TCP relative to the robot end flange automatically. The Calibration Pin Set sold by the Corporation or a custom-made calibration tool can be used to calibrate the fixed calibration point in the space during the teaching process. The number of calibrations varies depending on users’ operation method and accuracy requirements. The number of teachings on the TCP is at least 4 times.

Follow steps below to create a TCP by teaching:

1. Set the times of calibration and the mass of tools

2.The position of the TCP is clearly marked on the tool. In this example, the tool is a Calibration Pin Set, and the TCP is located at the tip of the needle.

Fix the Calibration Needle on a solid surface.

3. Align the end of tool to the calibration point by teaching, and follow by clicking the record on the screen.

4. Repeat this action until completed and the TCP numerical results and error values are displayed. After confirming that there is no mistake, input the tool name to save the file, and set it as the current tool for the robot.
5. After teaching is completed, the positioning result will be displayed.
6. The calibration result can be saved for future use.

Create Parameters of TCP with Input Parameters #

If users clearly know the TCP relative to the position of robot end flange, the coordinate parameters can be input manually. After the input is completed, click Save as to create a new TCP. To modify the TCP parameter values, click Open to select the item to be modified from the list, and after the modification is completed, click Apply in the lower right corner to save the changes and set this TCP to the current TCP to be used by the robot. In this interface, all TCP data on the robot can be managed. Click Open to open the TCP list of the robot. Click behind the item to delete the TCP data.