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Answered TCP on Fanuc Robot

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Laurence Price

Hi everyone,

I am using FANUC robot and trying to get an accurate TCP through 3 points method and 6 points method as well. I have even tried modifying the direct entry measurements. I have a welding torch over the robot & able to get it reasonably to about 3 mm rotating its face plate over the axis 4 and 5.

However, if its wrist is approximately 5mm out while flipping its wrist back to about 3mm then how accurate I am able to get this welding?

The robot is going to travel in a very straight line.

Does any of you have an idea whether it will make it to move in circle with lesser accuracy?

I have done the re-mastering to about ZERO degrees however, seen no improvements. I am having original measurements for the comparison but these are not corresponding to the one used in robot at the moment. Every thing seems to be running fine but would be easier to jog around parts with a more accurate TCP.

Please help. Thank You

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    Frankie Ellis
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    Dear Laurence,

    You may know that good mastering is very crucial and you have to check the mastering easily for which you will require a pointer and you will be able to use the wire over the torch.

    You have to jog robot so that its welding wire is lined along with the pointer and you are teaching at 2 points which are exactly same.

    You have to change the configurations of the second point so that the wrist is in opposite of the first point configuration. IE flip and non-Flip.

    You might require some intermediate points for assisting the robot for articulation. By the time you have performed it and moved the robot to a second point then check the pointer if it is off or on the mark. 

    Good luck

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    Laurence Price
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    Thank You,

    I fully understand the method you have described for checking but I am not sure of the way to flipping its wrist before reaching to another point.

    Help me with this if possible.

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    Frankie Ellis
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    Hello,

    On the second point the cursor should be over point 2 and then pressing the F5 position. After that you have to press F3 for configuration and then arrow it up till the configurations is displayed as FUT instead on NUT or you can even arrow down if the configuration is displayed as FUT and you need to make it NUT.

    Best of luck

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    Laurence Price
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    Bundle of Thanks,

    I am going to check it. Can you please tell me why mastering data on the papers of factory is not exactly the same as mentioned in variables of system that mastering is considering?

    Thank you once again

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    Frankie Ellis
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    More than likely the robot was mastered. 

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    Laurence Price
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    I just tried flipping and non-flipping and it is not accurate when I am flipping and is used at the same point on TCP differing.

    When I am jogging it along the line in the world frame, TCP is staying nice and straight but the torch angle is changing by the time I am switching the jog frame with wrist movement user frame or tool frame is still straight but runs.

    I now don't have an idea what to do with it

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