TCP Configuration

Description

A Tool Center Point (TCP) is a point on the robot’s tool. Each TCP contains a translation and a rotation relative to the center of the tool output flange.
When programmed to return to a previously stored waypoint, a robot moves the TCP to the position and orientation saved within the waypoint. When programmed for linear motion, the TCP moves linearly.

 
Position

The X, Y, Z coordinates specify the TCP position. When all values (including orientation) are zero, the TCP coincides with the center point of the tool output flange and adopts the coordinate system depicted on the screen.

 

 
Orientation

The RX, RY, RZ coordinate boxes specify the TCP orientation. Similar to the Move Tab, use the Units drop down menu above the RX, RY, RZ boxes to select the orientation coordinates

 

 
Adding, Renaming, Modifying and Removing TCPs

You can start configuring a new TCP with the following actions:

  • Tap the to define a new TCP with a unique name. The new TCP is available in the dropdown menu.

  • Tap the to rename a TCP.

  • Tap the to remove a selected TCP. You cannot remove the last TCP.

 

 
Active TCP

When moving linearly, the robot always uses the active TCP to determine the TCP offset. The active TCP can be changed using a Move command (see Command Tab) or a Set command. The motion of the active TCP is visualised on the Graphics Tab (see Graphics Tab).

 
Default TCP

The Default TCP must be set as the active TCP before running a program.

  • Select the desired TCP and tap Set as default to set a TCP as the default.

The green icon in the available drop-down menu indicates the default configured TCP.