measure_welding_tcp

Definition
DRFLEx.h within class CDRFLEx, public section (line 1043)

LPMEASURE_TCP_RESPONSE measure_welding_tcp(unsigned char iMode, float fStickout, float fTargetPos[9][NUMBER_OF_JOINT])
{
    return _measure_welding_tcp(_rbtCtrl, iMode, fStickout, fTargetPos);
};

Features

This function measures the Tool Center Point (TCP) for a welding tool using the specified measurement mode and stick-out length.

During measurement, the robot moves to up to 9 target positions defined by the parameter fTargetPos. The result includes both TCP coordinates and measurement status information.

This function is mainly used to calibrate welding tool positions for precise path execution and can be applied for torch alignment, offset correction, or tool verification.

Arguments

Argument	Data Type	Description
iMode	unsigned char	Measurement mode (0: 4-point method, 1: 6-point method)
fStickout	float	Stick-out distance of the welding torch (mm).
fTargetPos	float[9][NUMBER_OF_JOINT]	Target joint or Cartesian positions for up to 9 points. Used for TCP calculation and accuracy calibration.

Return

Return Value	Description
LPMEASURE_TCP_RESPONSE	Structure containing the measured TCP position (X, Y, Z, RX, RY, RZ) and measurement status (success or error type).

Example

// Example: Welding TCP measurement procedure
unsigned char iMode = 0;  // 0: 4-point method, 1: 6-point method
float fStickout = 30.0f;  // Stick-out value in millimeters

// Define 9 target points (joint or Cartesian positions)
float fTargetPos[9][NUMBER_OF_JOINT] = {
    {0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    {5.0, 0.0, 0.0, 0.0, 0.0, 0.0},
    {0.0, 5.0, 0.0, 0.0, 0.0, 0.0},
    {0.0, 0.0, 5.0, 0.0, 0.0, 0.0},
    {0.0, 0.0, 0.0, 5.0, 0.0, 0.0},
    {0.0, 0.0, 0.0, 0.0, 5.0, 0.0},
    {5.0, 5.0, 0.0, 0.0, 0.0, 0.0},
    {5.0, 0.0, 5.0, 0.0, 0.0, 0.0},
    {0.0, 5.0, 5.0, 0.0, 0.0, 0.0}
};

// Define structure to store TCP measurement results
LPMEASURE_TCP_RESPONSE result;

// Perform TCP measurement
result = Drfl.measure_welding_tcp(iMode, fStickout, fTargetPos);

// Check results
if (result->_bResult == 1)
{
    printf("TCP Measurement Successful!\n");
    printf("Measured TCP: X=%.3f, Y=%.3f, Z=%.3f, RX=%.3f, RY=%.3f, RZ=%.3f\n",
           result->_fTCPPos[0], result->_fTCPPos[1], result->_fTCPPos[2],
           result->_fTCPPos[3], result->_fTCPPos[4], result->_fTCPPos[5]);
}
else
{
    printf("Welding TCP measurement failed. Error code: %d\n", result->_bResult);
}

In this example, the robot measures the TCP of the welding tool using a 4-point method. The returned structure contains both the calculated TCP coordinates and a status flag indicating whether the measurement succeeded or failed.