How to teach TCP on FANUC robots / What is TCP

hi guys and welcome to the next episodes today we're going to take care of the tool frame so i hope as you remember from my last video we were talking about frames to be more exact about the word frame and i want to go back really uh for a brief moment to that video just to remind you what the frames are so they are used basically to describe the position in a three dimensional uh cartesian system so you have your x y and z coordinate and yo pitch and draw orientation so that's just a reminder and now let's get to the tool frame okay so what is a tool frame uh it is used to describe uh where the end of the arm tooling actually where the like the focal point or reference point of the end of the answering is so by default uh it is located at the end of axis six at the front of the robot faceplate so you have a we can imagine a small dot that's being placed over there and that's the point that you will refer all of your movements to so when you're going to jog using the tool frame you will refer all of your movements to that dot so you're going to rotate around that dot you're going to move forward left upward whatever according to that dot that dot is going to move or won't move so uh to describe it uh better what what is it and why why we use it so let's say you have a spot welding gun mounted at the robot so why do you need the tool frame for or tcp as it's called so what it's doing basically it's a like physical measurement of the distance from the robot plate to for example if you have a welding gun to the electrodes or you have a mic torch it's going to be from the face plate to the wire stick out or if you have a gripper it's going to be from the robot first plate to for example a pin or one of the clamps on the gripper so you will have a point of reference for the movements so you know what's going to move so you don't need to look well you need to look at the whole robot but while jogging you're going to just take a look at that small dots and where when it's where it's moving so that's why you created so it's easier to operate the robot it's easier to grab the part it's easier to go and make a resistance or spot welding point it's for you to be able to use it more efficient the the robot and also it affects the positional data so the positions that you have that you know that when you get the welding gun for example inside the part and you stop you know the exact distance from that point which is going to be your tcp so for example end of the welding cap to the robot base or from the if you're using the user frame which we're going to talk about later from that from the tc point tcp point to the user frame zero zero zero and how to describe it even better uh so let's say that's the robot faceplate right so right here you will have the coordinates 0 0 0 in the xyz and 0 0 0 in the orientation which means basically that your tcp is located at the robot wrist now let's assume you're attaching a tool to the robot that's going to be the hand in my case and right now you want this to be your tcp you want to rotate around exactly this point so you need to measure from here the distance in the z direction and then the distance in the y direction because when you take a look at the orientation of the basic tool frame so the tool frame that's located on the on the robot flange it looks like this the z goes up that's why i set it in that direction still the right hand rule will apply so don't worry and why do you need it uh because also the robot needs to know you can imagine you need to know where to move uh there is a exercise that sometimes you do you close your eyes you take your finger and you point to the nose and bam you hit it right into the nose how you did it because you know where that tcp is located right you can calculate in your mind like the distance in here and you can imagine that you're moving to the nose right pretty simple that's why you're creating your tcp to know what you're going to move how you're going to move it and also to give the positional data for your programs so you know where the robot is located in each place because sometimes it might happen for example that let's take a look at the spot welding robot resistant welding sometimes you're making the points and the weld engineer will come to you and say whoa whoa those points are like five millimeters off now like that point needs to be shifted three millimeters to the left two millimeters to the right and so on and so on and so on and to do that you can either take the robot move it to the position and then jog but which way to jog okay if the robot is located like right in front of the car it's easy because you can use the word frame but if it's rotated in some different way you need to jog the gun into inside and you're going to use the tool frame probably to jog it in and if you want to know the correct coordinates of the point and which way to move it you need to know your tool frame and your user frame in that case your user frame will be more important to shifting the points but that will cover in the next video so i hope you kind of know what i'm talking about uh we can go to more extreme case so imagine i'm only going right now to talk to the men's side of the audience imagine you're going to the restroom at the bar and you're gonna you know take a leak and that's also your tcp right you need to know where to aim and you know the distance of course so that's what i'm talking about that's the tcp it's like telling the robot or telling to yourself which point you're going to move which point you're going to rotate what's going to happen when you push this or that button so for example for the picking of the part right when you take it apart and you have your gripper like this it won't fit to the part so you know you got to rotate it you need your tcp so you can rotate around that point and that's what the tcp is for how to teach the tcp or how to tell the robot where the end of our tooling is i'm sorry where the tcp is where the tool frame is we have a few methods we have two point methods to teach it that's used only for the four axis robots so we're not going to talk about that but we have the three-point method four-point method which is something new it's not on all on the older robots uh we have uh those two are going to tell you only the x y and z distance it won't change the orientation so if you have a tool that's mounted on an angle so let's say that's your wrist right and your tool is mounted like this on a 45 degree angle you won't tell it to the robot you it will still try to move uh with the orientation located the same like in here so you gotta also change the angle on your tcp and for that you're going to use the uh six point methods there's there are two six-point methods uh xz and xy depending on which plane you want to teach and we're going to get to the exercise in a moment so those are the ways uh and there is also a direct entry which is probably least accurate unless you're using a laser tracker that's going to tell you exactly the position because usually that data you're getting from the offline or it can be accurate if you get it from the cat simulation uh it depends i use it often on the big project when you have 100 robots nobody is going to measure the tcp you will just check it verified if it's in the right place to make sure your programs are correct to make sure later on your positions are correct and it's easy to use and it is crucial because we're going to talk about stuff later on like position registers offsets and so on and so on and it's super important to have accurate tcp so you can offset those points but that's that's later on okay so let's get to the exercises i'm going to show you how to use all of those methods except for the uh two point method i told you because it's used only for the four axis robot and we're not covering that actually not right now maybe later on uh so give it a like if you want to continue subscribe and let's go it let's do it okay guys so let's get to the exercise as you can see we have our robot it has a nice tool that we're going to use a nice pointer that we're going to use to teach our tcp on the table also we have a pointer that's uh great for teaching the tcp i guess normally you will never have that kind of setups but you gotta create it somehow uh so let's let's get to it so um basically uh first thing i wanna show you is uh when you're going to select your tool frame and on the robot and it will show that you have the tool frame selected in the robo guide you will see the visualization of your current tool and as you can see we have the z pointing down uh the x pointing to the left and the y point pointing uh in front of the robot so you can apply the right hand rule right here and you see you see how the tcp is located when it's not topped basically it's mounted uh it's attached to the robot flange like i said to the six axis and that's how it looks what we want uh we wanted to have it right there on the tip and how do we do it so let's get to artist pendant so let's turn it on uh we go close menu we go to setup then we're going to select frames in my case it's here and in case you i'm already in tool frame uh however you might not see it so you gotta hit order and select the tool frame so uh we're going to use tool frame number 10 today so go to tool for number 10 just hit enter and here it is uh as you see it's zero zero zero zero zero so that means uh the tcp right now is located at the flange like i've said and what can you do uh first thing though that you should do is name it so when you you are at the comment section just hit enter and type the name whatever you want i'm going to use the the keyboard here and i'm just going to type pointer so we have the name always names name your tcps so later on when you have more than one easier for somebody to find the correct tcp to jogging so like i told you guys when you hit method uh you're going to see all of the methods that are possible so we have three point six point exact six point x y two points uh z plus uh four point and direct entry so basically the difference between the three point method and the four point method is that we're teaching one more point but the four point method is going to give us the mean error max error so that's something new well not entirely new but pretty new with the fanuc that option was not available before so i uh highly recommend using that one instead of three point but if you don't have the four point method three point method works perfectly fine uh however i'm going to show you the four point method because uh the logic behind it is exactly the same so let's select the four point method and you're going to see that you have four upload points that you need to teach so how that works uh pretty easy guys you need to jog the robots to be more exact you gotta jog that tip the end of that tip to the uh end of the tip in here get it as close as possible uh using the robot movement so what i recommend for you guys uh start with the word coordinate system and just simply uh jog the robot slowly to where you get it as close as possible and work your way through so you can uh get really nice uh tcp i'm going to do it right now using the jogging because it will take a lot of time why i told you to use the world because that's the coordinate system that you know uh as you can see uh it's changing here uh if you don't know what i'm talking about with the coordinate system check out the video that i made before on the coordinate systems it is really helpful and it will help you to do the job easier so as you can see as i change towards coordinate system our coordinate changed so the that plus is pointing upwards x is pointing out of the robot and y is pointing to the left uh that's why i prefer using the robo guides than the regular robot guys because some of the things will show in here and it's just easier for you to understand however i'm planning to make some videos on the real robot so keep tight and i promise there will be some videos showing the real robot okay because teaching of the this point will take some time i already made the program so let me go to it uh so basically like i said you you have the robot in some home position or wherever else uh what you do you just move the robot to the first point as you can see i get it as close as possible so you can see that the tip is in the middle of the pointer so that's your first point so remember guys we want to have the robot tcp in here at the very end of the pointer tip so we have our first point so in the approach we're going to record it to record you gotta hold your shift button and hit record and it's going to say it's going to say that the point was recorded sorry for that i move the mouse okay uh we'll then you have to move to the next point uh you will ask is there any uh requirements for the points how they should be located so guys the funnel is saying the best each point should be offsetted at least 90 degrees that's like the perfect solution so the first point as you've seen was like right here the second one is pointing uh straight and the next one i have i believe on the on that side i don't remember but that's found a recommendation uh is really necessary not really uh basically the bigger the difference in the orientation between those points the more accuracy you're going to get okay so you're at the second point the same story you're going to hit your shift you're going to hit record and you're going to get the message that point is recorded you've got your second point let's go to the third point so we're going to move to the third position again align the zip to be in the center as close as you can and let's record the next point so again hit shift record point recorded okay and let's get to our last point uh what's going to be point number four uh as you see on my example it looks pretty similar to point number one but unlike i'm saying uh it's all entirely up to you guys how you want to do you want to do it and like i said the more uh difference between the points the better so we're going to record it and guys take a look what's going to happen in here and take a look what's going to happen uh up here so right now we're going to hit record point recorded and we got our points that's the accuracy well guys if you're going to get that accuracy uh while teaching your tcp awesome that's like super exact 0.06 millimeters of a maximum error guys awesome really you are very very good so what happened right now uh let's change our coordinate system to tool and take a look right now we have our uh tcp moved so it shifted from here all the way down to here as you can see we have now that dot in here indicating where the tcp is located uh regarding that i'm going to show you uh i got i believe 0.1 uh when i was doing the tcp with the needle because i needed for a really good accuracy for my vision because the project i'm on right now uh we have a vision system but the guys chose the wrong lens so i'm struggling with the uh peak quality so i need to make it make the tcp and the tool frame super exact so i use a needle so when you have a gripper and you want to go do a really good tcp and frame use a needle there is always a way to take a look at the picture okay let's go back so guys what happened so we moved the tcp from here to here uh let me select in our other frame which i believe is empty nope it's not empty uh let me go really fast and check number eight for example there you go so that's the tcp uh originally so i'm right now using tcp number eight and as you can see is located like i said at the beginning of the video at the end of the uh robot and the uh end of the arm tooling or the actual robot flange and we have the z pointing that direction the y pointing to the well right now to the left and x pointing out of the robot just go back a little bit and you will see when the robot was in its home position so what happens when you uh change to your tool our that we thought was number 10 uh it shifted guys it shifted from the robot flange up to here up to the the pointer and what that is giving us so take a look at uh what's going to happen right now when i jog the robots are around that point so right now our tcp is taught and the best way to check if your tcp is accurate you're going to select it of course so make sure that you have uh tool number 10 because that's the one that you don't selected uh select the tool frame from the using the decode menu and try to jog it uh using the rotation so right now when you jog it you can see that the robot is rotating and making all of the movements calculating all of the movements uh according to the tcp that you taught so he's trying to keep that dot in one place and change its position to whatever it has to be whatever you you you want to however you want to jog it so again look it looks really awesome with the real robot uh i'm going to show you a video so that's why you teach your tcp uh well right now now i'm rotating around that so nothing is happening except for you that you can see that uh the act is turning around so uh that's that's how how it's done with the four point methods now uh prons and cons so right now my tool is located uh exactly like i want so within the axis [Music] of the axis six so if that tool was uh located at 45 degrees we're going to have some issues uh because you always want the tcp you want to know how to move the tcp so right now if i'm going to hit z minus the robot will go up with the tcp x plus as you can see uh x minus the other way y minus and so on so basically right now guys you're you you need to imagine that you're moving that dot that that dot is the point that you will move whenever you hit the the job keys but let's say you have an application and you don't want uh your that plus to go down uh but you wanna do when you hit x plus that the robot will go down so that will go towards the towards the part and there are two ways how you can do it one way uh is you can change your method now to direct entry so as you can see the robot will keep all of the points which is awesome and what you want to do you can play with the wpr in here in order to figure out uh the way so basically we would need to rotate around y which is the p for 90 degrees if i'm not mistaken and then our x is going to be pointed downwards and there you go there you have it now your x is pointing down so right now basically when i hit x plus the robot will move down there you go and your z moves left or right so that's the one way to do it but sometimes you will have your tcp at an unknown angle or at least you won't know it so uh when you don't know it or when you don't have the drawing from the cat software that you can put the data in here you need to use your six point methods so you have two six points xy xz and six points uh x y so let's use the six point x set because we want to change the z axis and as you can see again because you taught those points before all is recorded the only two things left is the x direction and the direction let me just go back and get rid of our 90 degrees in here as you can see we went back let's open our six point method again and so we have our orient origin point which is recorded which is the fourth point that we thought but we're going to change it but that won't affect the uh frame data don't worry because right now it has a different purpose and we have our x direction and z direction point so basically we're going to tell the robot hey when i'm going to hit x plus you're going to move into that direction hey when i'm going to hit that plus you're going to move into that direction so guys uh let's do it so first of all you want to teach your orient origin point so that's the point from where you're going to tell uh which way is the x plus and z plus and that point is crucial so basically what you want to do uh you want to align the robot with the with the ground or at least that's how i usually do it so just make it 90 degrees uh to the ground so how i do it usually i go back to the program and i have a point thought usually in a different frame with the zeros in here for the uh y and z so let's move to that point uh let's change the frame uh let's move to the to that point sorry guys all right uh let's turn on our tool so you guys can see uh that that's our tool yep there you go and um let's select the word coordinate system there we go so right now i am aligned to the to the ground 90 degrees as you can see uh and that's crucial because basically uh you will set the orientation uh like this i will show you later on why that's so important so uh we have our point taught and right now uh we go back to 2d frames and we want to save that as our orient origin point so we're going to do shift record and we have it says that pawn is recorded as you can see none of the data changed because again we're saying hey from this point i'm going to tell you where to move in the x and where to move in the z direction so like i said we wanted to make uh our x plus to be going towards the part so going down so in order to do that how i do it i always choose the world coordinate system and i'm just going to hit z minus because that will take the robot down and i'm going to say hey from this point which is my orient origin down means x plus for you so let's do it let's take the let's jog the robot down all right you need to jog at least 250 millimeters in order uh for the robot to have a good good frame and you're gonna hit shift record and we got our first point uh now we go back to the orient origin point so we hit shift and move to and now i want to tell him the x direction which for me i'm sorry the z direction which for me uh doesn't really matter right now because that tool is uh rounded so i'm going to choose basically whatever so i'm going to choose for the z plus to be the y minus direction so i'm going to jog the robot in the world again uh in the y minus direction 250 millimeters at least and i'm going to do the shift and records and there you go guys you have your new tcp calculated so right now when we go to our tool number 10 let's check it there you go the x is pointing down the that plus points to the right y plus points to the point towards the the robot so when we're going to jog x plus it will move towards the part as we want it uh now you guys will ask why there is a minus 19 here uh it's because i thought the that plus to be in here so that doesn't really matter for us again because that uh pointer is rounded so that doesn't really matter for me if the z is going to be pointing uh right pointing left or pointing towards or any other direction because i'm not able to know anyway because it's rounded all the way but when you have the gripper it will be important for you uh so that's how you use your six point method basically i hope you you guys get it uh if you will have uh something on the robot mounted on the 4d5 angle guys follow the same rule make it so it will look like this so it will be parallel to the ground and follow the same rule you want the x-plus or that plus to be towards the part do the same so you move the robot you teach it with a point like this if you don't know the angle because i knew that it's uh in the same angle as the axis so i could create the the point that i told you about because i knew it's going to be 0 0 0 0 and that one doesn't matter because it's just rotating around the dx so because you won't know that how i do it usually uh there are two ways either i'm going to take a level and put it like in here to and level level it in one direction then put the level in here level it in the other direction so i'm sure i am parallel to the ground with the tool or the other thing that i do usually is i will just take that pointer uh to the edge of the table in here i'll i will try to align it so uh you know it will uh look like this it will it will be perfectly straight to the edge of the table the the the pointer so that will be aligned basically with the table in here and that way i know that i'm parallel to one direction then i will take it to the other edge so this one and i'm going to make it parallel also in here i hope you guys get it if not let me know i'll try to do the exercise with the real robots but as far as i know i don't have anything mounted on a 45 degree angle but i can i can come up with something uh if that will help you to better understand it i forgot to mention about one thing in the six point method i'm sorry in the four point methods which probably we won't see right now uh let's go to the four point method uh the max error that was shown here it says add points and a point number so that means basically that uh least accurate point for calculating the tcp was point number x so you can go back to that point and teach it again so like adjust it a little bit more because you maybe were a little bit off and that that way you're going to decrease the max error and of course the mineral at the same time and that's how you get more accurate tcp i would say that's it for now i hope that you guys enjoy the the the movie uh you can take a look why we teach the tcp here is the short video okay that's it for today if you have any questions please leave it in the comments as always please guys give me a like subscribe the channel so i know i can continue my work and enjoy enjoy the rest of your day have fun and see you in the next movie bye bye

Channel: Future Robotics

Views: 48,483

Keywords: fanuc, tcp, kuka, robot, industrial robot, robotics, tool center point, advanced programming, automation, automotive, fanuc setup, fanuc roboguide, fanuc robot, fanuc robot certification, fanuc robot exam, fanuc tutorial, robot setup, robotics training, roboguide, curso de robotica, robot jogging, robot logic, robot programming, tutorial, robot training, robotguide, teach pendant, teach pendant fanuc, teach pendant programming, frames, tool frame, four point methid, six point method

Id: PbUHt1bzKgU

Length: 34min 0sec (2040 seconds)

Published: Sun Aug 16 2020