{"id":1910,"date":"2021-07-20T16:36:53","date_gmt":"2021-07-20T21:36:53","guid":{"rendered":"https:\/\/innoadap.com\/?p=1910"},"modified":"2021-10-20T17:11:11","modified_gmt":"2021-10-20T22:11:11","slug":"fanuc-robot-tool-center-point","status":"publish","type":"post","link":"https:\/\/innoadap.com\/en\/fanuc-robot-tool-center-point\/","title":{"rendered":"\u00bfC\u00f3mo configurar el TCP de un Robot FANUC?"},"content":{"rendered":"
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TCP es el Punto Central de la Herramienta del Robot (Tool Center Point) o tambi\u00e9n conocido como UTOOL en los programas del robot, es el punto utilizado para el posicionamiento de robots en cualquier programa que implique objetivos definidos en el espacio cartesiano. El TCP es f\u00edsicamente un punto imaginario con coordenadas cartesianas; en el simulador del robot es representado como un punto o esfera peque\u00f1a generalmente de color verde con sus coordenadas X, Y y Z visibles.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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\u00bfPor qu\u00e9 configurar el TCP?<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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Cuando el robot viene de f\u00e1brica, sus dimensiones terminan hasta donde se encuentra el Face Plate el cual es el disco donde se monta la herramienta del robot, por lo que el TCP original se encuentra en el centro de este. Al momento en que se agrega una herramienta o EOAT<\/em>, se debe actualizar el modelo matem\u00e1tico del TCP original para que el robot trace una trayectoria correctamente. Esta actualizaci\u00f3n se hace mediante el proceso de calibraci\u00f3n del TCP. Al hacer esto, se le indica al robot que sus dimensiones terminan ahora al final de la herramienta agregada.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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Diferencia de movimientos Con\/Sin TCP configurado<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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A continuaci\u00f3n, se muestran unas im\u00e1genes representando la trayectoria del movimiento del robot visitando de un punto a otro con un movimiento de tipo lineal y se representa dicho movimiento con una l\u00ednea recta resaltada en color rojo.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Movimiento del robot con herramienta sin TCP configurado<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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Movimiento del robot con herramienta con TCP configurado<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Adem\u00e1s de una traslaci\u00f3n precisa con el TCP calibrado en la punta de la herramienta, tambi\u00e9n se puede rotar la herramienta y \u00e9sta lo har\u00e1 en base a la ubicaci\u00f3n del TCP.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Rotaci\u00f3n con TCP calibrado al final de la herramienta<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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Rotaci\u00f3n sin TCP Calibrado en la herramienta<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Interpretaci\u00f3n del TCP<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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Cada vez que grabamos un punto, \u00e9ste se nos puede representar en grados y en coordenadas cartesianas. En coordenadas cartesianas, las cotas grabadas son las del TCP respecto del origen del sistema de coordenadas cartesianas activo en ese momento y elegido previamente por el usuario. (WORLD por defecto).<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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M\u00e9todos de configuraci\u00f3n<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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En la programaci\u00f3n de los robots Fanuc existen 3 m\u00e9todos de configuraci\u00f3n para la calibraci\u00f3n del TCP. Esto permite obtener un resultado m\u00e1s preciso y proporciona una buena estimaci\u00f3n del error.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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*M\u00e9todo de los 3 puntos: <\/h4>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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Es el m\u00e9todo m\u00e1s recomendado para la configuraci\u00f3n en herramientas simples y donde no se requiere extrema precisi\u00f3n.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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*M\u00e9todo de los 6 puntos: <\/h4>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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Es un m\u00e9todo recomendado para su configuraci\u00f3n en herramientas complejas debido a que requieren mayor precisi\u00f3n al no coincidir su eje de ataque con el del Face Plate o End Effector.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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*M\u00e9todo de entrada directa: <\/h4>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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Es el m\u00e9todo recomendado para su configuraci\u00f3n cuando se cuenta con las mediciones de la hoja t\u00e9cnica de la herramienta a utilizar y as\u00ed se puedan ingresar directamente dichos datos de las dimensiones en los distintos ejes.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Tipos de herramientas<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\u00a0Hay dos tipos de herramientas o EOAT\u2019s:<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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*Herramienta simple<\/em><\/strong>.<\/p>

Una herramienta simple es una herramienta en la cual el eje de ataque es paralelo al eje Z del End Effector.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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*Herramienta compleja<\/em><\/strong>.<\/p>

Una herramienta compleja es una herramienta en la cual el eje de ataque no es paralelo al eje Z del End Effector.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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En este caso la orientaci\u00f3n de la herramienta no cambia respecto al End Effector, solo se desplaza el TCP. El m\u00e9todo de aprendizaje de los 3 puntos es el adecuado para memorizar esta herramienta.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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En este caso el TCP est\u00e1 desplazado y su orientaci\u00f3n est\u00e1 redefinida. El m\u00e9todo de aprendizaje de los 6 puntos es el m\u00e1s adecuado para memorizar esta herramienta.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Consecuencias de una mala calibraci\u00f3n del TCP<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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Si los pasos y los posicionamientos para la configuraci\u00f3n del TCP no fueron calibrados correctamente entonces el punto de referencia de la nueva coordenada del TCP quedar\u00e1 desplazada de la parte final de la herramienta y por lo tanto la ejecuci\u00f3n de las trayectorias que realice el robot no tendr\u00e1n precisi\u00f3n, haciendo de esta manera un mal desarrollo de sus aplicaciones.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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Conclusi\u00f3n<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\u201cLa calibraci\u00f3n de un TCP en la herramienta es totalmente esencial y necesaria debido a que los robots industriales son altamente repetitivos, pero en algunos casos no precisos, por lo tanto, la precisi\u00f3n de un robot industrial se puede mejorar a trav\u00e9s de la calibraci\u00f3n de su punto central de la herramienta, mejorando as\u00ed la calidad en el proceso.\u201d<\/em>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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V\u00edctor Vald\u00e9s .<\/strong><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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\u00a1Aumente la productividad de sus Robots!<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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Pregunte por nuestros servicio de programaci\u00f3n para Robots FANUC.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\"\"\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>","protected":false},"excerpt":{"rendered":"

TCP es el Punto Central de la Herramienta del Robot (Tool Center Point) o tambi\u00e9n conocido como UTOOL en los programas del robot, es el punto utilizado para el posicionamiento de robots en cualquier programa que implique objetivos definidos en el espacio cartesiano. El TCP es f\u00edsicamente un punto imaginario con coordenadas cartesianas; en el […]<\/p>\n","protected":false},"author":2,"featured_media":1931,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"default","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"default","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1910","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-uncategorized"],"yoast_head":"\n\u00bfC\u00f3mo configurar el TCP de un Robot FANUC? 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