cancel
Showing results for 
Search instead for 
Did you mean: 

Pick and Place with symetric parts and different tcp´s

Valued Contributor
Valued Contributor

Good morning everyone,

 

i have a small problem:

 

I´m using a gripper with two clamps and two tcps to handle symetric parts out of a turning table. For the left part the pick and place operation works, but when I try to create the pap-operation for the right part I am not able to hit the part with the gripper. I think the problem is, that the gripper always uses the tcp for the left part.

 

Does anybody know how I can set a pap-operation with different TCPs? I´ve experimented with the robot toolbox to mount the same tool with different tcps, but I was not able to solve this problem.

 

2 REPLIES

Re: Pick and Place with symetric parts and different tcp´s

Legend
Legend

Do you want to pick both parts at the same time or one by one?

Easiest way is to split you gripper into two single grippers and define a tcp/ grip frame for each gripper.

Then you only need to run the grip command for each gripper in the olp commands.

 

also read here:
http://community.plm.automation.siemens.com/t5/Tecnomatix-Robotics-Forum/TCPF-change-in-a-single-gri...

Re: Pick and Place with symetric parts and different tcp´s

Valued Contributor
Valued Contributor

I have to pick the part after part, but that´s the solution! Thank´s for your help! Smiley Happy