The TCP refers to the specific position and orientation of a robot's tool or end-effector where the robot's actions are focused.
In welding applications, the TCP is positioned at the tip of the welding wire. This is commonly programmed with approximately 3/4in or 19mm stick out. The +Z-axis generally points in the direction of wire feeding.
When using Weld Builder it is necessary to ensure that the following conditions are met:
The selected tool corresponds to the actual tool being used by the robot.
The tool is properly calibrated.
- Move the TCP to an external reference point.
- Select the tool motion frame
- Rotate the TCP in several directions.
- If the TCP has moved away from the reference point, the TCP needs to be calibrated.
Some Weld Builder features may not work as expected if the TCP is inaccurate.
TCP Calibration
- Open Tools under Robot Settings main menu.
- Select the tool to calibrate from the list.
- If the tool coordinates are known, enter them manually. If they are unknown, press the [ESTIMATE] button.
- Use an external reference point and follow the instructions to register 5 robot joint configurations that place the tool tip on the reference point to calulate the TCP position.
- Make sure the TCP is properly calibrated.