Automate the process of redefining an accurate tool center point.
The TCP calibration station relies on the principle that a well created TCP will be used to define all the station planes to be used in the application including the calibration plane of the TCP calibration station.
After a tip change, the TCP could be manually recalibrated by moving the tip visually to the origin of the calibration plane and changing the TCP position offsets so that the position of the robot relative to the plane is all zeros.
This is what the TCP calibration routine automates by first measuring the offsets of the original TCP to the sensor limits with the original tip and then creating a new TCP after a tip change so that the offsets of the new TCP cancel out any translation that has occurred as the result of the different tip.