TCP

Description

The TCP command enables you to change the active Tool Center Point (TCP) during program execution. It uses the TCP already defined in the End Effectors application inside the Application menu. See End Effectors Application.

The TCP command updates the active TCP when changes happen mid-program to ensure the robot's motion planning stays accurate.

 

To access TCP command

  1. Go to the main program screen. See Command Nodes.

  2. Tap the TCP icon in the Commands toolbox.

    A node with an editable TCP field is inserted into the program tree.

  3. Tap the TCP field and select your preference.

 

  1. Select Custom.

    A Setup tab is inserted to the right.

  2. Tap the Setup tab.

    The Custom TCP screen appears.

  3. Tap the Position X, Position Y, Position Z tabs in the Position column, and enter the Value, Variable, and Expression on their respective tabs, and Confirm. See Value-Variable-Expression Tabs.

  4. Tap the Rotation RX, Rotation RY, Rotation RZ tabs in the Orientation column, and enter the Value, Variable, and Expression on their respective tabs, and Confirm. See Value-Variable-Expression Tabs.

  5. Tap Save.