TCP Orientation

Description

The new TCP orientation wizard provides a convenient way of determining the orientation (rotation) of a TCP. By having the user move the robot to a position where the tool's Z-axis aligns with a selected frame, the wizard can compute the TCP orientation automatically.

 

TCP Orientation wizard

  1. On the central panel, tap the TCP Orientation wizard icon, and the pop-up TCP Orientation Measurement screen appears.

     

  2. Tap ? Instructions on the bottom left part of the screen.

  3. Position the Z-axis of the tool parallel with the Z-axis of the selected frame, for example the base.

  4. Tap Set Point and jog the robot per prior instruction, then Save.

  5. When the robot is properly jogged in 3D view, the set point is successful, and tap Next.

 

  1. To finish, the TCP orientation measurement, verify the RX, RY, and RZ values.

 
Pose representation

PolyScope X and the ROS 2 interface provide the same TCP pose. The TCP orientation is also the same, but different mathematical representations are used. Therefore, the values are not directly comparable.