Dual End-Of-Arm-Tooling (EOAT) is commonly utilized to shorten robot movement. When tending a CNC machine, the robot will pick a new part with one gripper and remove the finished part with the other. Instead of teaching a point for each gripper at the chuck, it is possible to switch the tool and use the same set of points. Once the program is switched to Tool_2, it might be useful to use the same waypoints that were programmed with Tool_1.
If you need to have multiple grippers or tools go to the same waypoint it can be handy to use the Set TCP function. This is located under the Move node in your program. I will go over this with a brief machine loading example.
Example: Using the same waypoints and code to load and unload a CNC with different grippers. One gripper will place the part and the other gripper will remove the finished part.
TCP 1 = Gripper1
TCP 2 = Gripper2
Setup both TCP’s using the UR wizard under the installation tab.
Program your Move node using Gripper1 as the active TCP.
Once you set all your waypoints you can copy and paste the Move node to where you want to unload the machine.
Change the Set TCP dropdown as shown below to Gripper2.
