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9. UTILITY
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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)
Sealing Gun
Remote TCP
Work
Arm
Advantage of Remote TCP
F
F
F
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
The robot can rotate to keep the point at which Remote TCP tought the
work.
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Case of NOT using REMOTE TCP function
As the center of rotation is changed by the variation of work position, the
robot can not rotate to keep the point at which Remote TCP tought the
work.
F
You can get the easy teaching operation by remote TCP jog function.
Remote TCP
Easy to jog the Remote TCP
regardless of location and
orientation.
F
No Remote TCP
Not easy to jog the Remote TCP.
You can reduce teaching point drastically.
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Remote TCP
You need the minimum teaching
points regardless of the
orientation and location of work.
F
No Remote TCP
You need many teaching points
according to the direction and
position of work.
You can do uniform sealing against work.
Remote TCP
The robot moves with the taught
speed, so you can do uniform
sealing.
No Remote TCP
You can not do teaching to keep
the relative speed, so you can not
do uniform sealing.
Required option
F
Remote TCP (A05B--2350--J624)
TCP auto set (A05B--2350--J520)
And if you use the following option together, operation will be easier .
F
Limitation
The Specification of REMOTE TCP is as follows.
F
F
F
Support 6--axes robot and M--410i only.
Support Spot, Sealing, Handling tool only.
Not support Arc tool function and tracking function.
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.
The limitation of REMOTE TCP is as follows.
F
F
F
F
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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.
Y
X
Z (Tool Direction)
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.
SETUP Frames
JOINT 10 %
User/RTCP Setup/Direct Entry
1/5
X
Y
Z
Comment
1: 0.0
0.0
0.0
************
2: 0.0
0.0
0.0
************
3: 0.0
0.0
0.0
************
4: 0.0
0.0
0.0
************
5: 0.0
0.0
0.0
************
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 itis 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.
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< 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.
SETUP Frames
R1/TOOL
10 %
The robot motion is performed according to REMOTE TCP TOOL No.1
R1/TOOL
REMOTE TCP motion is performed according to the tool frame.
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.
SETUP Frames
The display status is changed as follows.
JOINT®R1/JFRM®R1/WRLD®R1/TOOL®R1/USER
Select REMOTE TCP frame
R1/TOOL
10 %
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”.
The number is changed as follows.
1®2®3®4®5®1
SETUP Frames
R1/TOOL 10 %
User/RTCP Setup/Direct Entry
1/5
X
Y
Z
Comment
1: 0.0
0.0
0.0
************
2: 0.0
0.0
0.0
************
3: 0.0
0.0
0.0
************
4: 0.0
0.0
0.0
************
5: 0.0
0.0
0.0
************
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