Hello everyone!

I have recently been studying the welding section, and I have a strange question. In the welding alignment process, there are multiple methods, and I always feel a bit uneasy about the Nozzle touch.

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Normally, he uses the neck of the welding gun to touch off, but more often I see that he can’t even make contact with the surface of the object, like this:

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I have tried many times, and it feels like this behavior is because VC’s tool-offset procedure only deals with the coordinate system and doesn’t care about when or how to touch. This confuses me, because I’ve previously used VC for projects that require collision detection, and I know VC handles collisions at least well for triangular surfaces. But why does this feature that requires collision contact use a coordinate system?

Of course, since it uses a coordinate system, there must be a reason. But this also leads to a problem: the nozzle neck is a circle. How can I ensure that, with different poses, I can properly calibrate tool touch (the nozzle neck touching the material surface) without crashing into the machine?

这里需要调整吗？

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BAD你好，
这种情况通常发生在你先设置了工具中心点（TCP），然后修改了焊枪几何参数之后。可能是因为有人调整了焊丝长度并更新了几何数据，导致TCP位置保持不变，但焊丝伸出长度比以前更长了。
要解决这个问题，可以尝试重置TCP——只需将其重新设置到焊丝尖端即可。

如果问题仍然存在，请告诉我。

Mats2你好！
这只是我临时搭建的一个演示环境，全部使用VC内置模型，包括机器人是库卡KR210 R2700，焊枪也是机器人工具库里的默认焊枪。

那么，我需要一份包含这些参数的手册才能使用VC的搜索模块吗？或者说，这是VC搜索模块实现精确性的唯一途径？如果是非标准焊枪又该怎么处理呢？

BAD你好，
这个工具似乎有些问题。我测试了一下，使用工具自带的TCP时得到了相同的结果。但当我使用机器人属性中的第一个工具，并将TCP设置为该工具时，它立刻就能正常工作。 我会反馈这个问题，以便未来能正确修复。 --- 好的，Mats2，感谢您的及时回复！ 那么如果我后续使用自己的模型，需要注意哪些方面？根据您所说的，似乎建模层级稍有偏差就会导致功能异常，但我在手册中没有看到相关说明。
I will report this so it should work correctly in the future.

Okay, Mats2, thank you for your prompt reply!

Then if I use my own model later, what should I pay attention to? From what you said, it seems that the feature will have issues if the modeling hierarchy is a bit off, but I don’t see this described in the manual.