Product Catalog
KUKA.TRACC TCP Description
Function
KUKA.TRACC TCP is used for automatic tool calibration with the aid of a photo-electric barrier.
The option is required for high-precision calibration of the TCP (Tool Center Point).
This is the case in applications where high process reliability is required.
Automatic tool calibration process with KUKA.TRACC TCP
Product differences
Functions TRACC TCP 4.0
Features / Programming / Usability
Automatic initial TCP setup ü
Absolute measurement method ü
Simple function call ü
Clear and easy to use diagnosis plugin
• Graphical display of the TCP
• Numerical display of the TCP ü
• Further measured values
• History of the last measured values and user actions
Plain text messages for usability ü
Sequence control via smartPAD or PLC ü
communication / configuration
Menu-driven configuration on smartPAD
(specific menus for spot and arc welding)
ü
Laser fork light beam for max precision
(repeatability of measured values is less than robot accuracy )
ü
Quick measurement routines ü
Individual tolerance limits
• Calibration limit ü
• Maximal allowed deviation
Log-file with the last measuring results ü
Up to 32 tools / TCPs can be managed ü
PLC-interface ü
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Product Catalog
KUKA.TRACC TCP Description
Functional Principle
The KUKA.TRACC TCP option allows determination and verification of the Cartesian tool center point
coordinates, e.g. for a spot weld gun or the end of the wire in an arc welding process, by means of an
automatic process.
TCP determination and calibration and a rapid TCP check are carried out automatically using TRACC TCP.
Integrated diagnostic displays and the log function allow continuous monitoring and, if required, correction
of tool data for the purpose of maintaining production quality.
start
Check routine
NO
< limit 1 Calibration
YES
Operator /
PLC update TCP
end
functional sequence in operation
TCP determination
The robot moves the tool tip through the light beam several times using a predefined motion program.
Every time the state changes, the robot position is saved by means of the “Fast Measurement” function.
A best-fit calculation then computes the TCP data and, in TCP calibration mode, the position of the
light beam.
Statistical measuring errors, e.g. caused by vibrations, are largely eliminated.
The result is compared with specified nominal values and displayed on the KUKA smartPAD
for the user.
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Product Catalog
KUKA.TRACC TCP Description
TCP check
The fast TCP check is carried out to check whether the current workpiece corresponds to the most
recently determined workpiece data within specified update limits. If these limits are exceeded, the
user is prompted to carry out a new TCP determination.
The TCP check is usually called from the production program, e.g. during electrode tip dressing, if an
electrode change is required, or following a collision during arc welding.
Diagnostic display on the KUKA smartPAD
Measurements and results are displayed graphically on the KUKA smartPAD.
HMI Plugin on the KUKA smartPAD
Area of use
Tool measurement, calibration and checking during electrode changes and electrode tip dressing.
For use with the following applications:
- Spot welding (spot weld gun)
- Stud welding (stud weld gun)
- Arc welding (arc welding torch)
- Bonding (adhesive application nozzle)
- Plasma cutting (cutting torch)
Other applications possible in consultation with KUKA.
Spot welding, arc welding, applications with rotationally symmetrical tool geometry
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Product Catalog
KUKA.TRACC TCP Description
Availability
The software option KUKA.TRACC TCP in combination with KUKA controller KR C4 and
KUKA system software KSS 8.3 and KSS 8.2.
System Components / System Requirements
optical fork sensor
Fast measurement inputs sensor cable
Schematic representation of system components for KUKA.TRACC TCP with the option fast measurement X33 and
light beam with connection cable
KUKA software components
Required components
- KUKA.TRACC TCP
- Systemsoftware inkl. KUKA.WorkVisual.
Optional additional components
- KUKA.ArcTech
- KUKA.ServoGun FC
- KUKA.ServoGun TC
- KUKA.GlueTech
KUKA hardware components
Required components
- INTERFACE fast measurement X33
- Light beam with connection cable 10 m or 18 m
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Product Catalog
KUKA.TRACC TCP Order Data
Lieferumfang
KUKA.TRACC TCP software
incl. setup, documentation in German and English, license sticker for the KR C4 controller.
The software is installed on the KUKA KR C4 controller and is available on delivery of the controller.
Media Kit
On request, the software will also be provided in a KUKA Media Kit.
In the case of a re-order (order without robot system), the latest version of the software is always supplied
in a KUKA Media Kit.
Media Kits are available on the following storage media:
- DVD in MediaKit DVD
- Non-bootable USB in MediaKit USB
Article Art. No.
KUKA.TRACC TCP 4.0 00-224-956
It is only necessary to select a Media Kit if desired by the customer or in the case of a re-order
(order without robot system).
Article Art. No.
MediaKit DVD 00-198-638
MediaKit USB 00-198-637
Option, selection required when ordering
Hardware components
Article Art. No.
Light beam and 10 m cable 00-236-755
Light beam and 18 m cable 00-236-756
INTERFACE fast measurement X33 00-178-599
Required Selection required
