Programming the TCP

Programing Example

prg_example

Linear and rotary movement of the TCP

N010 #KIN ID [3]
N020 #TRAFO ON
N030 G00 G90 X_TCP=1000 Y_TCP=500 Z_TCP=50 C_TCP=10
N040 #TRAFO OFF

The movement is distributed as follows:

 

X

Y

Z

A

B

C

Linear unit

1000

500

 

 

 

 

Robot

0

0

50

0

0

10

TCP

1000

500

50

0

0

10

The linear unit can only travel movements in the X and Y directions due to its degrees of freedom. The movement in Z and C directions programmed in N030 are transferred to the robot.