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TCP Position Mismatch

Platform: Process Simulate

The TCP (tool center point) position calculated during simulation does not match the operation's absolute location. This indicates the robot is not actually reaching the taught target.

Developer / auto-test builds only

In normal connector builds this condition is written to the log as a warning and does not block the export. It is raised as a blocking error only when developer mode or auto-test mode is enabled.

Dialog shown in Resolver​

Sanity check failed! Calculated TCP {tcpFrameName} position is different from operation {operationPath} absolute location:{calculatedTcpLocation}vs{targetAbsoluteLocation}

What you can do in this dialog​

  • Can you continue export? No in developer/auto-test builds (blocks export); in normal builds it is only logged as a warning.
  • Buttons in the popup: OK
  • What happens next: In developer/auto-test builds the export does not continue until the mismatch is resolved.
  • Next step: How to fix it

Impact if you continue​

If the mismatch is only logged (normal builds), the location may be exported with a pose that differs from what was taught, which can lead to inaccurate motion. In developer/auto-test builds the export is blocked so the discrepancy must be resolved first.

How to fix it​

  1. Open the operation named in the dialog and re-teach the location so the TCP reaches the intended absolute position.
  2. Verify the correct tool is mounted and the tool frame (UTool) for the location is correct.
  3. Confirm the robot can reach the location with a valid configuration (see Invalid Joint Configuration).
  4. Save the study and re-run export.