Hi, could anyone tell me what should I do in order to set the TCP? It keeps changing its position.

timuvlad 2019-07-19

I am using an UR5 robot, a wrist camera and a HEX-E F/T sensor together with a drilling maxhine in order to accomplish a drilling application based on camera recognition but when I program the movements I noticed that the whenever i set the TCP, it keeps changing its position to the center of the sensor and I haven't found anything about this in the manual or online. Does anyone have any suggestions in order to solve this? The sensor is provided by the OnRobot and the camera by Robotiq.

David_Gouffe 2019-07-19

Hi,

TCP is a base parameter from the installation files.
There are several ways to change of TCP. This may make a challenge to find all changes of TCP.

You can set the TCP in a set node. I believe this is what you use.
Inside the move: You can select use TCP "x" or "use current TCP" or "ignore current TCP".

Inside a moveL: You can select a feature to offset the taught path. This is the way our camera works.

I do not know exactly if it is possible to edit the value of a TCP while running a program, but if you do so, it might not be taken into account in all situations.

Just as a check.
-Is the program consistent with all the TCP possible change mentioned above ?
-Is your Polyscope up to date ?
-Are the URCaps up to date ?
-Was this program working before a modification ?
-When you say center of the sensor: Is it the OnRobot sensor or Robotiq Camera ?
-Have you thought to offset the position instead of the TCP ? (Only if it is doable.)
-Just to know: Why do you need to update the TCP?
--Because of the tool length change?
--Because the drill head change?
-Can it be a side effect of the FT you use? (Robotiq FT300 do not have such side effects.)

Let us know your situation. If nothing I say is helping you, please send the above requested information to support@robotiq.com . Pictures and the program may help us to help you.

Regards,

David Gouffé
Integration Coach
Coach en intégration

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timuvlad 2019-07-22

Hello,

First thank you for your interest but I think i did not make myself clear, therefore I will try and explain the situation again. I am trying to develop a drilling application using the wrist camera provided by Robotiq and a Force/Torque sensor provided by OnRobot (HEX-E). The problem is that when I try to run the program, even though I have thought the robot the position of the TCP using the in-built command, and I have selected the snapshot position as a feature, the position of the TCP shown in the 'Graphics' and 'Move' tab changes after the first run of the program. I have tried using a Set command in the 'Before Start' Section and set the position of the TCP but it's not working either. If you have any piece of advice for me I'm looking forward to hear from you as soon as possible.

matthewd92 2019-07-22

Do you need to set the TCP position on the Hex-E installation tab? Generally though, that is only set at the very top of the program so if you are doing any set_tcp() in the before start that should override any default settings from the Hex-E. Also, when you go to the move screen, the TCP position is not displayed anywhere on that screen, you should just see 0's in all of the positions for x,y,z,rx,ry,rz . If you are seeing 0's there and thinking that the tcp is changing it is not, that is giving you the current distance from ther TCP to the TCP, which is obviously 0.

To see how changing the TCP affects the distances, set up several TCP's on the installation tab with large variations in the tcp pose, then you can make them the default TCP one at a time and go to the move screen, in base frame you can then see how the distances change (Do not move the robot, just change the default TCP) from the tool position to the base of the robot.

timuvlad 2019-07-22

What about the Graphics tab? The TCP is not displayed there either?

matthewd92 2019-07-22

Just a blue dot that represents the tcp

David_Gouffe 2019-07-22

Hi,

I believe you can see the robot offset depending on the TCP set by default.

I also believe that if the first run works but not the second, it is possible that the " Set command in the 'Before Start' Section " should be at the beginning of the program instead of in the "Before Start" section. This section is only read once the first time the program start. This would explain the first run ok and the second and following to be wrong.

I would suggest contacting " support@robotiq.com " mentioning this DoF Post " https://dof.robotiq.com/discussion/comment/5146#Comment_5146 "
You can also put me in CC d.gouffe@robotiq.com .
We would need:
a picture of the robot "About menu" (for Polyscope version details),
a picture of Robotiq Camera "About tab" in "installation tab" (for URCap version details),
a picture/video of the program (Running ok and/or with the problem),
a copy of the program you try to run with the installation file.

With this we can dig deeper in the problem.

Note that most people set a single TCP, put it by default and then never change it. Maybe your default is set at 0,0,0 (x,y,z) 0,0,0 (w,p,r) . Default is flagged with a green vertical flag on the right side.

Hope to help you more using support.

Regards,

David Gouffé
Integration Coach
Coach en intégration

Robotiq is now into packaging, palletizing and sanding applications. Learn more about our new Vacuum Grippers and the Robotiq Sanding Kit.

1-888-ROBOTIQ #275 (762-6847)
1-418-380-2788 #275 (Outside US and Canada)
1-418-655-9221 (Cell)

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Visit us: