Thank you bro that was an amazing explanation! That video at the end was so cool looking too. It looks so trippy as if it is fake or like there is something invisible that the tool is hitting lol. Very nice!
Hello I am a student working on a similar robot, a Stewart Platform though :). I would like to request for reference material on the mathematical transformation behind the 4-points method, or even the 6-points methods. Your help will be highly appreciated. And thank you so much for your efforts and contributions to the robotics community.
Hello Issac, I personally never calculated TCP using math, but in general it's all about finding center of the sphere using 4 points. You can contact me via email info@f-robotics.com if you have more questions. I can add that TCP is being calculated using tool0 that is usually located at center of Axis6 flange (might be also intersection of A6,A5,A4) than as you teach the tcp robot knows where tool0 is every time you save a point, out of the 4 points that you will save you are able to create a new sphere than you need to use 6DOF transformation and you have your TCP. some of the key words would be: inverse kinematic, DH method, center of sphere.
Hi @4.47 when you were calcuating the tcp ( for the tip of your finger), you calculated the distance in zdirection and y direction, But according to the right hand rule the distance should be calcuated in Z direction and "X direction" ( @4.55). Please clarify how to know the direction in TCP ? 2. How to the know the default direction of axes in TCP system( which is located at the flange)? Like we can know the direction in World coordinate system by standing beside the base of the robot and apply the right hand rule. 3. Can I teach TCP without the software?, In my organization we are teaching the real robot without using ROBOguide.
1 - The right hand rule always apply, but I can see the confusion, so the distance I showed is based on base TCP (0,0,0,0,0,0), than your Z+ is going out of the robot flange, you can see what I mean after you will take a look at the TCP values after teaching TCP 2 - I talk about the orientation @4:25, Z+ is going "out" of the robot flange, X+ goes "up" of the robot flage (when axis 4 and 6 are at 0 deg) 3 - of course, I'm using Roboguide because I can show more than on a real robot, but the procedure will be exactly the same
As I understand TCP is the offset amount in between real tool tip and wrist flange centrepoint when tool is mounted to understand the robot where to move Pls correct if I am wrong Thanks for the video
I have a question. It was very clear how you work the first part of setting the coordinates. I just want to understand why you rotated the axis?, wouldn't be easier to maintain the traditional order?
well that depends on the tool and the standard you are using :-) What if for example your tool is mounted on a 45deg angle ? That without rotating the axis by 45deg you won't be able to move the tool in a "straight line", because you will follow the "base coordinates"
How can you use a needle for your TCP? Do you subtract the length of the needle after you set the TCP or did you have to reteach positions to that new TCP with the needle in the gripper?
Quiz questions for this video: 1) Assuming standard setup, if you jog the robot in World -Y which direction will the TCP move? -- *a) To the robot's right b) Up c) Straight out front d) To the robot's left 2) Positional Data is depended on what two frames? -- *a) User and Tool b) Jog and Tool c) Tool and World d) World and User 3) Which direction does the TCP move in relation to the robot when the +X key is pressed while jogging in WORLD frame? -- a) To the robot's right b) Down *c) Straight out front d) Up 4) The motion option Offset, PR[x] is offset relative to the orientation of what Frame? -- I may not be correct on this one I think it is world -- a) Tool *b) User c) Job d) World 5) What key is pressed to switch between the different jog methods? -- a) MENU b) POSN *c) COORD d) FCTN 6) Which motion type moves the TCP in a straight line from the start position to the destination position? *a) Linear b) Joint c) Circular d) spine 7) The six point method of defining a Tool Frame defines the Location and ____________ of a Tool Frame. -- *a) Orientation b) Operation c) Distance d) Offset
most likely your robot have more than 1 motion group (ex. rail, turn table), so you are able to move with or without sub group (this means only robot will move or sub group will move when you are trying to jog)
Thank's for video, i would like for example if the robot have two pneumatic gripper with an angle of 90C, do we need to teach for each gripper the tcp or only one tcp for both gripper ?
I would say that there are 2 main reasons why you should teach the TCP: 1. To know where the process point is in space 2. To help with jogging the robot If non of those are needed than, the TCP is not needed, hence for basic robot operations I personally only teach TCP only if one or both of those points are met.
I've recently started learning how to operate Fanuc robots, but I've encountered some difficulties with the basics. Could you kindly share any comprehensive reference materials, from beginner to advanced levels, that could help me improve? I would really appreciate your assistance.
Hey, I did not work with paint robots, so if you want I can take a look at the manuals and maybe give you some answers, however it's won't be "hands on" experience. Let me know what would you like to know
I would like some way of numbering the videos... With each video I heardb the text "if you haven't seen the previous video go watch that to understand this video" and it makes it hard to browse through your channel because i have to bounce back and foward
If you are in mastering position (all axis on 0 deg) and stand behind the robot the base TCP (0,0,0,0,0,0) is: X+ - is up Y+ - is to the right Z+ - is forward
If the program exists it is using some TCP already, you need to know what is the TCP number that this program uses and go to MENU->Utilities-> Frame offset And there you can change tool frame to a different number. This tool will create a copy of an existing program, but it will change the UTOOL to a different number. You will have option to either shift the point or keep the points at the same position and just change the utool number
@@kalisankarparua1655 it depends what you are trying to accomplish. If you just want to change the frame number from 1 to 2 on all programs and values in frame 1 and frame 2 are the same than you can do it by one click on all programs (with notepad++ for example), if you want to change frame 1 to frame 2 and values are different than you need to do this for 100 programs one by one. It might be different if you want to use frame 2 with different values and you want to change the program (robot movements will change) than you can use the first method that I mentioned
Finding TCP is quite easy. Just select the Tool Frame that you want to find and try to rotate around W,P,R this way you can "see" a point that robot will rotate around. Second option would be to "measure" the TCP, you can see the values in Tool Frame[x] and than using those values measure out of robot flange (x,y,z and the angle) About the User Frame it's a bit more complicated. You need to select the Tool Frame that you know (you need to know where the TCP is located), than select the User Frame that you want to check (eg. UF=1 and UT=1). Now you hit POS (position) button than click USER this will show you your current TCP coordinate in selected USER frame, than you jog it until you see X=0,Y=0,Z=0 this way you know where the base of your frame is located. Than you can change to USER jog system and jog in Y,Z,X and you will see the directions. In some cases it's not possible to get to X,Y,Z=0,0,0
Hey, you need to contact FANUC directly. They have 30 days trial available, if you like it you can buy the software form them than. Contac your FANUC sales for that inquiry. You can also fill out the form below: www.fanucamerica.com/products/robots/robot-simulation-software-FANUC-ROBOGUIDE#contactusform
There is a similar software called RoboDK that will give you a free trial on robot simulation that you can also use. Most Offline Programming Language/Robot Simulators are going to cost at least 3000USD. More, like Roboguide, Robot Master, and Octopuz will cost more
That is a different story, if you have a TCP already and you will change it (if that's the TCP you are using for the program) all points will change. You can use one of the tool from menu->utilities (I don't remember the name now, bur probably frame offset) to change the TCP without affecting the program.
Hello, Just to make sure, if i try to do in not in simulation, do i need to configure somehow the jig that sit on the table or it doesn't matter where i put?
@@FutureRoboticsChannel Thanks for the reply. One more question, we got a recommendation that we should use the CAD to define the TCP. Is it better or worst than the 4 point method?
@@baroch8 Nowadays for bigger projects programmers are using CAD data for TCP, because it's just faster (imagine you have a project with 400 robots 🙂), one thing that should be done is to check the TCP. So what you should do is to use the CAD data, but after you use the CAD data you should check if the TCP is located in the correct place
Awesome.. I have a scara fanuc picking up parts from a tray using irvision. lets say there are 6 identical peices in there.. it is picking one out that has the highest score.. problem is. the parts are oval. just very slightly, they are almost a circle. anyway when it goes to pick the parts up some times it does not get the rotation right and picks it up crooked in the rotation aspect. could redoing TCP help this?
For vision application there are two crucial things: User Frame anf Tool Frame. Now if you are sure that your TCP and UF are good, then you know that most likely your vision parameters are not ok. You can check maybe you can limit the rotation, than you can play with histogram to detect the edges. You can share the picture of your image.with me maybe I can help with vision process :-)
Keys to a good tutorial: 1.) No long introductions. Do what you intend to do with BRIEF explanations. 2.) Do not babble incoherently for long periods of time. 3.) keep your tutorials brief and break them into sub sections. 4.) Do what the title defines and nothing else. 5.) create links to sub sections. 6.) If you can do in 5 minutes what you are doing in 35 minutes, do it in 5 minutes.
👉 On-line consultation: f-robotics.com/consultation 👈
Very helpful for my journey in learning the operation of robot
Thank you bro that was an amazing explanation! That video at the end was so cool looking too. It looks so trippy as if it is fake or like there is something invisible that the tool is hitting lol. Very nice!
That TCP analogy is awesome XD
Hello I am a student working on a similar robot, a Stewart Platform though :). I would like to request for reference material on the mathematical transformation behind the 4-points method, or even the 6-points methods. Your help will be highly appreciated. And thank you so much for your efforts and contributions to the robotics community.
Hello Issac, I personally never calculated TCP using math, but in general it's all about finding center of the sphere using 4 points. You can contact me via email info@f-robotics.com if you have more questions.
I can add that TCP is being calculated using tool0 that is usually located at center of Axis6 flange (might be also intersection of A6,A5,A4) than as you teach the tcp robot knows where tool0 is every time you save a point, out of the 4 points that you will save you are able to create a new sphere than you need to use 6DOF transformation and you have your TCP.
some of the key words would be: inverse kinematic, DH method, center of sphere.
Thank you. Best explanation
Hi @4.47 when you were calcuating the tcp ( for the tip of your finger), you calculated the distance in zdirection and y direction, But according to the right hand rule the distance should be calcuated in Z direction and "X direction" ( @4.55). Please clarify how to know the direction in TCP ?
2. How to the know the default direction of axes in TCP system( which is located at the flange)? Like we can know the direction in World coordinate system by standing beside the base of the robot and apply the right hand rule.
3. Can I teach TCP without the software?, In my organization we are teaching the real robot without using ROBOguide.
1 - The right hand rule always apply, but I can see the confusion, so the distance I showed is based on base TCP (0,0,0,0,0,0), than your Z+ is going out of the robot flange, you can see what I mean after you will take a look at the TCP values after teaching TCP
2 - I talk about the orientation @4:25, Z+ is going "out" of the robot flange, X+ goes "up" of the robot flage (when axis 4 and 6 are at 0 deg)
3 - of course, I'm using Roboguide because I can show more than on a real robot, but the procedure will be exactly the same
Your videos are awesome! Thank you
As I understand TCP is the offset amount in between real tool tip and wrist flange centrepoint when tool is mounted to understand the robot where to move
Pls correct if I am wrong
Thanks for the video
Yes exactly.
TCP is as you've said offset between the tool tip and robot flange
@@FutureRoboticsChannel thanks
I have a question. It was very clear how you work the first part of setting the coordinates. I just want to understand why you rotated the axis?, wouldn't be easier to maintain the traditional order?
well that depends on the tool and the standard you are using :-)
What if for example your tool is mounted on a 45deg angle ? That without rotating the axis by 45deg you won't be able to move the tool in a "straight line", because you will follow the "base coordinates"
@@FutureRoboticsChannel Thanks. So, for straight tools we can keep the original alignment right?
@@guillermogonzalez9949 If you like the orientation (X,Y,Z directions), than sure :-)
Great videos and explanation, thanks.
How can you use a needle for your TCP? Do you subtract the length of the needle after you set the TCP or did you have to reteach positions to that new TCP with the needle in the gripper?
So the needle in the gripper was actually used later to teach User Frame for a vision system
Quiz questions for this video:
1) Assuming standard setup, if you jog the robot in World -Y which direction will the TCP move? --
*a) To the robot's right
b) Up
c) Straight out front
d) To the robot's left
2) Positional Data is depended on what two frames? --
*a) User and Tool
b) Jog and Tool
c) Tool and World
d) World and User
3) Which direction does the TCP move in relation to the robot when the +X key is pressed while jogging in WORLD frame? --
a) To the robot's right
b) Down
*c) Straight out front
d) Up
4) The motion option Offset, PR[x] is offset relative to the orientation of what Frame? -- I may not be correct on this one I think it is world --
a) Tool
*b) User
c) Job
d) World
5) What key is pressed to switch between the different jog methods? --
a) MENU
b) POSN
*c) COORD
d) FCTN
6) Which motion type moves the TCP in a straight line from the start position to the destination position?
*a) Linear
b) Joint
c) Circular
d) spine
7) The six point method of defining a Tool Frame defines the Location and ____________ of a Tool Frame. --
*a) Orientation
b) Operation
c) Distance
d) Offset
Hi, thanks for sharing knowledge.
Please upload the video about controller components
I'll do so, however the components that you can have inside can vary a lot, so it's going to be a bit general description :-)
There you go :-) Ready for you guys th-cam.com/video/vFcrZu5L65U/w-d-xo.html
Maybe a silly question, but when did tool start having the s/ in the front? And what's the difference?
most likely your robot have more than 1 motion group (ex. rail, turn table), so you are able to move with or without sub group (this means only robot will move or sub group will move when you are trying to jog)
Thank's for video, i would like for example if the robot have two pneumatic gripper with an angle of 90C, do we need to teach for each gripper the tcp or only one tcp for both gripper ?
I would say that there are 2 main reasons why you should teach the TCP:
1. To know where the process point is in space
2. To help with jogging the robot
If non of those are needed than, the TCP is not needed, hence for basic robot operations I personally only teach TCP only if one or both of those points are met.
Plz make the video in touch sensor functions of fanuc robot
I've recently started learning how to operate Fanuc robots, but I've encountered some difficulties with the basics. Could you kindly share any comprehensive reference materials, from beginner to advanced levels, that could help me improve? I would really appreciate your assistance.
best resource is FANUC MyPortal website you can find all manual there.
Hey I wanted to try the things you did in the tutorial. Where can I get the simulation and CAD files used in this video?
Unfortunately, I do not have the cell anymore, but online course is coming in 2024, so I'll be able to share that with you together with the course
Hi, That's a very good explanation of TCP, thanks
Does the selected UFrame affect the teaching points for TCP?
No it does not :-)
But selected Tool Frame affects User Frame ;-)
Can you please give an overview of Fanuc painting robot p500 controller
Hey, I did not work with paint robots, so if you want I can take a look at the manuals and maybe give you some answers, however it's won't be "hands on" experience.
Let me know what would you like to know
Dear sir,
Please make videos on abb robot and kuka please
I’m working on it :-)
I would like some way of numbering the videos... With each video I heardb the text "if you haven't seen the previous video go watch that to understand this video" and it makes it hard to browse through your channel because i have to bounce back and foward
Very goood explained
Thanks for the time to make these videos.
How are the X, Y and Z axis located on the flange at the start of the TCP setup?
Regards
If you are in mastering position (all axis on 0 deg) and stand behind the robot the base TCP (0,0,0,0,0,0) is:
X+ - is up
Y+ - is to the right
Z+ - is forward
@@FutureRoboticsChannel
Thanks!
If we are record a new tcp then how to apply that tcp no. to the existing program.
If the program exists it is using some TCP already, you need to know what is the TCP number that this program uses and go to MENU->Utilities-> Frame offset
And there you can change tool frame to a different number.
This tool will create a copy of an existing program, but it will change the UTOOL to a different number. You will have option to either shift the point or keep the points at the same position and just change the utool number
@@FutureRoboticsChannel that means if there is 100 program exist, then i have to change all program old frame to new frame no.
@@kalisankarparua1655 it depends what you are trying to accomplish.
If you just want to change the frame number from 1 to 2 on all programs and values in frame 1 and frame 2 are the same than you can do it by one click on all programs (with notepad++ for example), if you want to change frame 1 to frame 2 and values are different than you need to do this for 100 programs one by one.
It might be different if you want to use frame 2 with different values and you want to change the program (robot movements will change) than you can use the first method that I mentioned
If we are going to working robot ..how to find this one tool frame system and user frame ststem
Finding TCP is quite easy. Just select the Tool Frame that you want to find and try to rotate around W,P,R this way you can "see" a point that robot will rotate around.
Second option would be to "measure" the TCP, you can see the values in Tool Frame[x] and than using those values measure out of robot flange (x,y,z and the angle)
About the User Frame it's a bit more complicated. You need to select the Tool Frame that you know (you need to know where the TCP is located), than select the User Frame that you want to check (eg. UF=1 and UT=1). Now you hit POS (position) button than click USER this will show you your current TCP coordinate in selected USER frame, than you jog it until you see X=0,Y=0,Z=0 this way you know where the base of your frame is located. Than you can change to USER jog system and jog in Y,Z,X and you will see the directions.
In some cases it's not possible to get to X,Y,Z=0,0,0
@@FutureRoboticsChannel thank you sir
Thank you for the videos.
How can I practice it on my laptop? Is there any way to buy that software?
Hey, you need to contact FANUC directly. They have 30 days trial available, if you like it you can buy the software form them than.
Contac your FANUC sales for that inquiry.
You can also fill out the form below:
www.fanucamerica.com/products/robots/robot-simulation-software-FANUC-ROBOGUIDE#contactusform
There is a similar software called RoboDK that will give you a free trial on robot simulation that you can also use. Most Offline Programming Language/Robot Simulators are going to cost at least 3000USD. More, like Roboguide, Robot Master, and Octopuz will cost more
@@ColtonMKemp There is also Process Simulate, Delmia and others, just keep in mind the functionality.
It all depends what does the user needs :-)
Continously upload robotics video in TH-cam
I'll do my best at least 2 times per week :-). Let me know the topics, so it will be a bit easier for me, so I know what you guys want !
So if you have a current TCP can you just reteach the points and record them new without affecting the points that are correct?
That is a different story, if you have a TCP already and you will change it (if that's the TCP you are using for the program) all points will change.
You can use one of the tool from menu->utilities (I don't remember the name now, bur probably frame offset) to change the TCP without affecting the program.
Hello, Just to make sure, if i try to do in not in simulation, do i need to configure somehow the jig that sit on the table or it doesn't matter where i put?
for teaching TCP it doesn't matter, the only thing that is important is that you can reach to it easly
@@FutureRoboticsChannel Thanks for the reply. One more question, we got a recommendation that we should use the CAD to define the TCP. Is it better or worst than the 4 point method?
@@baroch8 Nowadays for bigger projects programmers are using CAD data for TCP, because it's just faster (imagine you have a project with 400 robots 🙂), one thing that should be done is to check the TCP.
So what you should do is to use the CAD data, but after you use the CAD data you should check if the TCP is located in the correct place
tryinna to catch the process!
Is there any free version of software to learn this at home.?
You can ask for 30days trial from FANUC.
Check out the video:
th-cam.com/video/CqQO51bzyLM/w-d-xo.html
Awesome.. I have a scara fanuc picking up parts from a tray using irvision. lets say there are 6 identical peices in there.. it is picking one out that has the highest score.. problem is. the parts are oval. just very slightly, they are almost a circle. anyway when it goes to pick the parts up some times it does not get the rotation right and picks it up crooked in the rotation aspect. could redoing TCP help this?
For vision application there are two crucial things: User Frame anf Tool Frame. Now if you are sure that your TCP and UF are good, then you know that most likely your vision parameters are not ok.
You can check maybe you can limit the rotation, than you can play with histogram to detect the edges.
You can share the picture of your image.with me maybe I can help with vision process :-)
for your six point method you used XZ but you demostrated YZ
Could you please tell me to what part of the video are you referring to?
Keys to a good tutorial:
1.) No long introductions. Do what you intend to do with BRIEF explanations.
2.) Do not babble incoherently for long periods of time.
3.) keep your tutorials brief and break them into sub sections.
4.) Do what the title defines and nothing else.
5.) create links to sub sections.
6.) If you can do in 5 minutes what you are doing in 35 minutes, do it in 5 minutes.
tcpp lol
Hello dear engineer
Plz i need speak with u in whatsapp
And thanks for u .
text me on facebook or via email at info@f-robotics.com
@@FutureRoboticsChannel where your facebook
@@عقيلعقيل-ص2ه2ظ facebook.com/Future.Robotics.Services/