Position of Tool Center Point (TCP)
The Tool Center Point (TCP) is defined at the tip of the screwdriver bit.
The TCP is specified relative to the robot tool flange coordinate system.
Reference Definition
The reference point corresponds to the tip of a 50 mm screwdriver bit (or teach pointer).
TCP Position
Model |
X (mm) |
Y (mm) |
Z (mm) |
|---|---|---|---|
SD/SDV35 |
0 |
-264 |
105 |
SD/SDV50 |
0 |
-264 |
105 |
SD/SDV70 |
0 |
-264 |
105 |
SD/SDV120 |
0 |
-264 |
105 |
TCP Orientation
The TCP orientation is defined using axis-angle representation (RX, RY, RZ) in radians.
Model |
RX (rad) |
RY (rad) |
RZ (rad) |
|---|---|---|---|
SD/SDV35 |
1.5708 |
0 |
0 |
SD/SDV50 |
1.5708 |
0 |
0 |
SD/SDV70 |
1.5708 |
0 |
0 |
SD/SDV120 |
1.5708 |
0 |
0 |
Usage in Robot Configuration
The TCP must be configured in the robot controller to ensure:
Accurate positioning
Correct screw insertion depth
Proper motion planning
Important Considerations
Note
The TCP values are based on a standard configuration with:
50 mm screwdriver bit
No screw attached
The TCP must be adjusted if the bit length or tooling changes.
Important
Incorrect TCP configuration may result in:
Positioning errors
Incorrect tightening depth
Potential collisions
Note
The orientation assumes that the screwdriver axis is aligned with the robot Z-direction. Adjustments may be required depending on robot mounting and application.
Note
For robots using different coordinate conventions (e.g. Euler angles), conversion may be required.