Defining a TCP (Tool Center Point)

Setting a Tool Center Point will ensure that your tool will perform the movements you intended. You can define several different TCPs. If you have a tool with multiple functions, you can define multiple TCPs and use them in the same program.

The tool center point (TCP) is the point on the end effector that represents the position of the tip of the tool. To define a TCP you have to set its offset (X,Y, Z) from the center of the tool flange. You can either do so in measuring, or by teaching the TCP Position, by moving the TCP to the same position from different angles.