Introduction

This will explain how to change robot placement to help avoid arm interference - like the upper arm to tooling interference.  This can be very helpful when carrying a large part and robot posture is hindered due to location for process.

Fix the TCP in location

Open the position panel.                                                                                                              Check the “ Fix TCP” box

Move the robot around, by right clicking on the robot in the CAD tree and then click on “Set Position”.  If the robot is a child of the riser it is on, then you can set position of the riser with the same effect on the robot.  If it is not, then you can modify the CAD tree and make the robot a child of the riser or whatever it is mounted on.

CONCLUSION

This is a very useful tool during setup or even when you start programming and run into a reach or interference issue.  Don’t forget to uncheck the “Fix TCP’ box when you have finished updating the robot’s position, or you won’t be able to JOG the robot for programming.  In this case, since it is the tool to arm, we are checking, you will want to investigate “Self-Interference.”

It is also a good tool to help identify any areas that will be very difficult to work around. For example, if the robot can’t clear clamp handles on a weld cell to welds it needs to complete.  If you are still having issues with these things, then trying the robot layout function will be next.