You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

add_tcp (Auto Mode)

This section explains how to use add_tcp during system initialization or tool setup to register a new Tool Center Point (TCP) on the robot controller.

The TCP defines a position and orientation relative to the tool flange and is a key element for precise task-space control.

Once registered, the TCP may be activated with set_tcp.

Typical usage

  • Register TCPs for new grippers, screwdrivers, weld torches, or probes.

  • Create multiple TCP points for complex tools with different working tips.

  • Load TCP values measured using Smart Setup or CAD specifications.

  • Prepare TCP configurations for recipe-based automated tasks.

Note

  • strSymbol must be unique across all registered TCP names.

  • Orientation values follow the Z-Y-Z Euler angle convention (A, B, C).

  • TCP registration is normally performed once during commissioning.

Example: Registering a New TCP for a Gripper

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Example TCP: 80 mm forward, 0 mm right, 30 mm downward from flange
    float pos[3] = {80.f, 0.f, -30.f};
    float rot[3] = {180.f, 0.f, 180.f};   // Euler Z-Y-Z angles (A, B, C)

    // Register TCP
    if (!drfl.add_tcp("TCP_GRIPPER_CENTER", pos, rot)) {
        printf("Failed to register TCP.\n");
        return -1;
    }

    // Activate TCP for Auto Mode actions
    drfl.set_tcp("TCP_GRIPPER_CENTER");

    return 0;
}

In this example, a TCP is registered and immediately activated for subsequent Auto Mode pick-and-place operations.

Tips

  • Define multiple TCPs for tools with different contact or measurement points.

  • Use Smart Setup auto-measurement when possible for higher precision.

  • Maintain consistent naming conventions for recipes and tool libraries.