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Sebastien
Posts: 219 Handy
Utool value in UR robot |
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Hi pros,
we have a client who has to setup a TCP where the Z value is 650mm. When we try to enter that value in the TCP screen we get an error saying that it is out of range (-500mm to +500mm). How could we work around this?
Would it work is we use the script function set_tcp()?
@Stefan_Stubgaard maybe you can help on this?
we have a client who has to setup a TCP where the Z value is 650mm. When we try to enter that value in the TCP screen we get an error saying that it is out of range (-500mm to +500mm). How could we work around this?
Would it work is we use the script function set_tcp()?
@Stefan_Stubgaard maybe you can help on this?
Tagged:
TCP is virtual in this case, like for a camera for example. We would need to rotate around the TCP.
We will see what we find! @Stefan_Stubgaard any tips?
@Sebastien as @matthewd92 has confirmed, it is possible to run with higher TCP offsets than the max value that can be inputted, if you use script instead.
What is essential is to not exceed the max. allowed CoG (Center of Gravity) value, which defines the distance from center of tool flange to center of mass of the attached tool. If exceeded it can cause protective stops when running and worst case lead to mechanical defect. See chapter 4.4 in user manual 3.3 concerning chart of Max allowed payload in relation to CoG.
thanks for the tips. As this is a virtual tool like a camera for example, we won't exceed payload CoG values!
thanks