9.
UTILITY B-82284EN-2/01
9.12 REMOTE TCP FUNCTION
9.12.1 Summary
The REMOTE TCP function is used to process the work by moving the
work which is placed on the robot hand. Robot can keep the relation
between the tool fixed on the ground and work.
Example of using REMOTE TCP function (by Sealing application)
Advantage of Remote TCP
● The gun is fixed on the ground, then the cabling of tool is easy.
● It is not necessary to take the heavy gun.
● Even if you do not use the REMOTE TCP function, you could
process the work by moving the work which is placed on the robot
hand. But if you rotate the work against the TCP, the tool can not
do the coordinate motion against the work.
Case of using REMOTE TCP function
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Case of NOT using REMOTE TCP function
● You can get the easy teaching operation by remote TCP jog
function.
● You can reduce teaching point drastically.
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● You can do uniform sealing against work.
Required option
● Remote TCP (A05B-2350-J624)
And if you use the following option together, operation will be easier .
● TCP auto set (A05B-2350-J520)
Limitation
The Specification of REMOTE TCP is as follows.
● Support 6-axes robot and M-410i only.
● Support Spot, Sealing, Handling tool only.
● Not support Arc tool function and tracking function.
The limitation of REMOTE TCP is as follows.
● This function is applied to the linear and circular motion.
● REMOTE TCP supports incremental motion. However, the
incremental motion is relative the uframe frame.
● REMOTE TCP does not support Wrist joint motion. The motion
option of wrist joint REMOTE TCP do not coexist in the one TPE
motion instruction.
● When the robot motion changes from REMOTE TCP to normal,
you can not use Speed Prediction function.
9.12.2 Setup
Setting up
If you use the REMOTE TCP function, you need to teach the tool center
point which is fixed on the ground to the robot.
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You can set REMOTE TCP position by using the same method for User
frame.
1 Press MENUS.
2 Select SETUP.
3 Press F1[TYPE].
4 Select Frames.
5 If user frame is not displayed, press F3[OTHER], and select User
Frame. If F3,[OTHER], is not displayed, press PREV.
6 Move the cursor to the REMOTE TCP frame to use.
7 Press F2,[DETAIL].
8 Select the method from Direct Entry, Three Point or Four Point,
and set the frame by using the same method for User frame.
Remote TCP jog
When you do transitional jogging under the remote TCP mode, the
robot behaves the same as it is under normal jogging.
REMOTE TCP jogging is done by using the following procedure.
1 Enter to REMOTE TCP jogging mode.
2 Select the frame.
JOINT, REMOTE TCP USER, REMOTE TCP TOOL,
REMOTE TCP JOG
3 Jog the robot.
4 Return from REMOTE TCP jogging mode.
< Change to REMOTE TCP jogging mode >
Please perform the following procedure to enter to REMOTE TCP
jogging mode.
1 Press FCTN.
Select “TOGGLE REMOTE TCP”.
The screen is changed as follows.
The robot motion is performed according to REMOTE TCP TOOL
No.1
R1/TOOL
REMOTE TCP motion is performed according to the tool frame.
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Please perform the following procedure to return from REMOTE TCP
jogging mode.
1 Press FCTN.
2 Select “TOGGLE REMOTE TCP”.
Select frame
You change the coordinate system by pressing the COORD key. Please
select the frame except for JOINT.
The display status is changed as follows.
JOINT → R1/JFRM → R1/WRLD → R1/TOOL → R1/USER
Select REMOTE TCP frame
When the robot enters to REMOTE TCP mode, you can select
REMOTE TCP frame by using how to select the normal frame.
1 Press FCTN.
2 Select “CHANGE RTCP FRAME”.
Programming and running by using REMOTE TCP
If you specify REMOTE TCP motion option, the robot moves remote
TCP instead of robot TCP.
Please perform the following procedure to specify REMOTE TCP
motion option.
1 Move the cursor to end of program line.
2 Press F4,[CHOICE].
3 Select “RTCP”.
Please perform the following procedure to remove REMOTE TCP
motion option.
1 Move the cursor to end of program line.
2 Press F4,[CHOICE].
3 Select “No Option”.
You can not use RTCP with JOINT motion.
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<Programming example>
L P[1] 100mm/sec FINE RTCP
The work is moved to P[1] by the relative speed 100 mm/sec between
the work and the remote tool.
C P[1]
P[2] 100mm/sec FINE RTCP
The work is moved to P[2] via P[1] by the relative speed 100 mm/sec
between the work and the remote tool.
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