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Nicolas_Lauzier
Beta Tester VIsion 1.1 Program, Vacuum Beta tester Posts: 28 Crew
Offsetting all waypoints in all programs on a UR robot |
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/ Most recent by matthewd92
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Hi all,
Let's say that I have a minor change on my robot's end effector (for example, I changed the fingertips of my gripper) and I want to apply an offset of 5mm in tool Z. Normally, I would just change the TCP. However, if all waypoints were teached with the "Use Tool Flange" option for the TCP, is there a way that I can offset all these points without having to change the TCP on all the move instructions? Imagine that I have a lot of programs with a lot of points such that any manual operation is not practical.
I'm looking for a script, a tool or a built-in option in Polyscope.
Thanks!
Let's say that I have a minor change on my robot's end effector (for example, I changed the fingertips of my gripper) and I want to apply an offset of 5mm in tool Z. Normally, I would just change the TCP. However, if all waypoints were teached with the "Use Tool Flange" option for the TCP, is there a way that I can offset all these points without having to change the TCP on all the move instructions? Imagine that I have a lot of programs with a lot of points such that any manual operation is not practical.
I'm looking for a script, a tool or a built-in option in Polyscope.
Thanks!
Nicolas Lauzier, Eng., PhD
R&D Director
[email protected]
Tagged:
Nicolas Lauzier, Eng., PhD
R&D Director
[email protected]
We played around with this some yesterday and it actually does work with the movel
However, this offset will not be applied in the tool frame, am I right?
Nicolas Lauzier, Eng., PhD
R&D Director
[email protected]
Research Engineer
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@Nicolas_Lauzier I'm not sure if it would or not, my gut says that it wouldnt but if you are using the tool frame of reference then correcting the TCP would correct those motions. This would be a correction for the motion was taught using the tool flange unless I am not understanding the question correctly.
I wrote a small program the other day to test this and all we did was make an incrementing x offset that we kept applying to the Base_var and then calling the same moveL and the robot would step each time the amount of the x offset that we were applying. To get it to work with a movej we had to do set a variable equal to the waypoint desired in the before start section and then we were recalculating that point before each time it was used in the offsetting loop using the new Base_var as the frame of reference. Then we were able to achieve the same result which makes sense as this is being done in script code automatically for the moveL situation.
Research Engineer
[email protected]
I can never get programs to upload but here is a screen shot of the program
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Just trying to understand and what you are getting at regarding the feature points and orientation.
Research Engineer
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Due to this any impact on robot..