Miller Copilot Owner's Manual - Page 37
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A. Home Position
B. Tool Center Point (TCP) Check
The TCP definition tells the cobot where the end of the torch is—the point where welding occurs (at least under ideal conditions). It is a reference
point that is used to control the motion of the cobot and to define the location of the wire tip in relation to the cobot's base or other reference
frame.
A pointer is mounted inside the system to be used as a quick reference to verify the torch and/or arm alignment. This can be a valuable tool to
determine if the welding torch is no longer in alignment because of a "crash" (when the torch or arm collides with something solid in the system
such as the tool, the part being welded, or the system frame).
To check the TCP using the reference pointer:
Step 1. Check the contact tip and replace it.
Step 2. Check the welding wire stick-out length (typically 12-15 mm) and straightness of the wire. Consistency is more important than how
straight the wire is; if the wire has a natural "cast" or bend, that is acceptable as long as the bend is consistent.
Step 3. Press the Move to Position button.
Step 4. Be prepared to stop the movement if the torch looks like it is going to crash with the TCP pointer.
Step 5. Move forward to the TCP Checkpoint.
Step 6. If the wire aligns with the pointer, TCP is confirmed and the system is ready for operation.
Step 7. If the wire does not align with the pointer, the torch may need straightening or adjustment, or it is possible that the cobot origin position is
no longer correct.
Step 8. If the wire aligns with the pointer but the part program is still not tracing or running correctly, the tool or parts to be welded may not be re-
peating correctly.
The position can be updated by moving the cobot to a new TCP position and pressing the Save button.
Be careful updating this position after you have created programs. Programs created before the revised TCP Check position may be shifted
based on an incorrect/damaged TCP point.
1 Move to Position Button
2 Save Button
Press and holding the Move to Position but-
ton to move the cobot to the defined Home
position.
The Home position is automatically inserted
as the first line of any new program.
The Home position can be updated by mov-
ing the cobot to a new Home position and
pressing the Save button.
It is a good practice when creating programs
to start and end programs at the Home posi-
tion so operators can understand when the
cobot has completed a task.
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