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VT_340VT_340 Posts: 23 Apprentice
in Programming
Hi!

I am wondering about that it is not easily possible to change the TCP-Offset via URScript?! 
Is there any trick how to manage that? Basically I want to have the same trajectory with different tool-geometries. In the Dashboard you can set this easily in the configuration tab, so I thought this is possible via URScript as well? If not my whole project will fail, as I always thought this is easily manageable.

Thanks in advance.

A.B

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  • matthewd92matthewd92 Posts: 947Founding Pro, Tactile Sensor Beta Testers Handy
    @VT_340 you can use this script function, set_tcp(pose),  to change the tcp by passing in a pose representing the offset in x, y z and the rotation of the tcp around x, y and z

    Here is an example of the script code from one of our production programs that has 3 TCP's, this is the script that was generated from the .urp polyscope file but it shows you how its used.

    . set_tcp(p[-0.11324,0.0,0.11216,0.0,-0.757,0.0])
  set_payload(2.0, [0.0, 0.0, 0.1])
  set_gravity([0.0, 0.0, 9.82])

    The set_payload has 2 arguments, the mass in kg, in this case 2, and the CoG in meters from the tool flange

     The set_gravity is telling the system the magnitude of gravity in each of the axes, in this case the robot is mounted normally (base parallel with the ground) so all of the gravity is acting in a single axis, Z.

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  • VT_340VT_340 Posts: 23 Apprentice
    Hey it's matthew again who gives me advice. great! Thank you!


    Is it really that easy that the first three arguments are the offset? Or is this somehow different?



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  • matthewd92matthewd92 Posts: 947Founding Pro, Tactile Sensor Beta Testers Handy

    It is just that easy, there is the TCP configuration from the installation tab on the robot screen, you can see that these settings match the information in the set_tcp() method. Just remember the X,Y,Z in the pose are in meters, and the rotations are in radians.

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  • VT_340VT_340 Posts: 23 Apprentice
    edited July 2017
    It works now. Sponge suspension is not working, thats the reason why the line is not comletly gone.

    http://www.facebook.com/UweStahl/videos/1345601428822131/

    Thanks for your help.
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  • matthewd92matthewd92 Posts: 947Founding Pro, Tactile Sensor Beta Testers Handy
    Great work, that's really cool. 
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  • VT_340VT_340 Posts: 23 Apprentice
    Well now I ran into another problem: When the TCP is set to a new value, the robot goes there immediately and a way too fast which leads to a jerk violation stop. Any idea how to do that?

    Thanks!
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  • T800_412T800_412 Posts: 51 Apprentice
    edited August 2018
    Here is an example of the script code from one of our production programs that has 3 TCP's, this is the script that was generated from the .urp polyscope file but it shows you how its used.

    . set_tcp(p[-0.11324,0.0,0.11216,0.0,-0.757,0.0])
  set_payload(2.0, [0.0, 0.0, 0.1])
  set_gravity([0.0, 0.0, 9.82])
    Which TCP is set to this value? I am trying to do something similar here, but getting a TCP disagreement error which then the unit wants me to reinitialize.

    Scenario is to use TCP1 p[0,0,240,0,0,0] and then move the TCP to a feature point. Using the Find Surface function (formerly rq_linear_search) move down in Z until contact is made. Then, switch to TCP p[0,0,0,0,0,0] (tool flange setting), then get actual TCP pose. The Z height then gives the actual TCP offset desired (The bottom of the thing in the gripper). Lastly, use the set command to switch to TCP2, then do the set_tcp(p[0,0,Z_offset,0,0,0])

    The idea here, is to then use TCP2 for subsequent move commands, knowing that the actual bottom of the gripped object is being moved where needed, regardless of variations in thickness of objects.



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  • matthewd92matthewd92 Posts: 947Founding Pro, Tactile Sensor Beta Testers Handy
    @T800_412 when you use the script command you’re not changing any of the taught TCP’s, rather you are just setting the TCP to what you want it to be.  We have a program right now with 5 TCP’s but none of them are taught in the installation tab. When we want one we just issue the script command and move on with life. 

    I did see an error, at least in the message above, you have TCP1 set to p[0,0,240,0,0,0], remember all pose number for x,y,z are in meters so you are trying to set the TCP to 240 meters in z, not 240 mm in Z. Also the rotations are in radians, not degrees. 

    So once you find your object there is no need to use the set command to switch to TCP_2, just use the script command and set it to what you want it to be. 
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  • T800_412T800_412 Posts: 51 Apprentice
    Thank you @matthewd92
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  • matthewd92matthewd92 Posts: 947Founding Pro, Tactile Sensor Beta Testers Handy
    You’re welcome 
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