How to Define your Robot Tool (TCP) - RoboDK Robot Software

In this video you will learn how to generate accurate robot paths by defining the position of your tool center point (TCP) using an Omron TM robot. This is the first step to calibrate your virtual station so that it matches your real station.
Learn more about how to properly define your robot tools (TCP):
robodk.com/doc/en/General.htm...
Watch our full RUclips playlist to master accurate robot programming:
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Robot calibration allows you to improve robot accuracy and the accuracy of your digital twin: robodk.com/robot-calibration
Table of content:
00:00 Introduction
00:28 Tool Center Point (TCP) calibration using the 4-point method
03:09 Definition of the tool frame in RoboDK and Omron TMFlow
06:26 Calibration using the pose option with the robot controller
10:27 TCP Accuracy
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[@AbdelrahmanAhmedEngineer]

so great !! continue the awesome work guys

[@RoboDK3D]

Thank you! Will do!

[@tegradynellc2432]

Great video, thanks for this. I might have missed this in the video but did you just plug in nominal values for Rx, Ry, Rz? It looks like this method just determines x, y, z translation of the TCP relative to the flange right? Just trying to make sure I'm understanding this correctly. In general most people must not have to calibrate rotational tool offsets as the TCP will still be correct, although it might not rotate perfectly at the base of your tool if you rotated the tool in it's own coordinate frame for example about Z in your video.

[@florincheche163]

❤

[@themrc81]

Nice video, I was wondering; if I have my station on RoboDk with right robot and right tool, do I need to make the TCP definition for the first time or can I trust the software? Of course given that the tool in the software is correct.

[@RoboDK3D]

The real tool coordinates (or TCP) doesn't always match the 3D model due to manufacturing accuracies, robot accuracy and how you mount the tool on your robot flange. If you don't need high accuracy you can rely on the 3D model coordinates. It is better if you ask technical questions in the RoboDK forum: robodk.com/forum/index.php

[@ikramantaki]

is it possible to make a PLC- SOFTWARE conection?? LIKE TIA PORTAL??

[@RoboDK3D]

You can connect a PLC with RoboDK commands using the OPC-UA plugin or using the RoboDK API. Contact us through our forum so we can help you better: robodk.com/forum

[@bernardotellezgomez3567]

Very Good Jeremy! but what if we have a yaskawa robot that shows the values ​​of the axes with up to six digits?

[@RoboDK3D]

You may be referring to Yaskawa/Motoman pulse data instead of degrees. It is better if you use the driver for this purpose or generate a JBI program and then import it in RoboDK to extract the joint values. It is better if you ask technical questions in our forum: robodk.com/forum/index.php

[@bernardotellezgomez3567]

@@RoboDK3D Thank You, I will consider your comments!

[@harshinipradeep6824]

Tool frame is defined in how many points. when using the default TCP method?

[@RoboDK3D]

You need at least 4 points to calibrate your tool (TCP). Contact us through our forum so we can help you better: robodk.com/forum