Lock TCP

The Lock TCP Plug-in for RoboDK adds the ability to lock the TCP position for a 6 axis robot mounted on a synchronized external axis.

Features

• Lock the the robot's tool position so that the TCP absolute position is kept
• Reject out-of-reach positions
• Change the lock state through the API

Usage

This example adds a "Lock TCP" checkable menu item when right-clicking a tool.

Behaviour

Locking the TCP will allow the external axis to move the robot base while keeping the tool position. New pose in limit cases, such as new joints configuration or robot fully extended, will be rejected.

Original lock position	Moved back position

Run from API

Here's a sample code to use this plugin through the API.

from robodk.robolink import ITEM_TYPE_TOOL, Robolink

RDK = Robolink()

item = RDK.ItemUserPick("Select TCP to lock", ITEM_TYPE_TOOL)
if not item.Valid():
    quit()

if RDK.PluginCommand("Lock TCP", "LOCK", item.Name()) != "OK":
    RDK.ShowMessage('Failed to lock TCP of %s. Ensure the plugin is enabled (Shift+I)' % item.Name())
    quit()
RDK.ShowMessage('Locked TCP of %s' % item.Name())

# Try it out!

if RDK.PluginCommand("Lock TCP", "UNLOCK", item.Name()) != "OK":
    RDK.ShowMessage('Failed to unlock TCP of %s' % item.Name())
RDK.ShowMessage('Unlocked TCP of %s' % item.Name())