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.

set_tcp (Auto Mode)

This section explains how to use set_tcp during Auto (Run) operations to activate a predefined Tool Center Point (TCP) configuration.

The TCP defines the effective reference point for all task-space motions, including linear moves, force control, and orientation-based operations. Accurate TCP activation is essential for precise path execution and safe automated workflows.

This function selects a TCP configuration previously created using add_tcp.

Typical usage

  • Switch between multiple TCPs for different tools or gripper fingers.

  • Select a TCP optimized for picking, inserting, or assembly tasks.

  • Adjust control behavior when the working point is offset from the flange.

  • Validate spatial accuracy before Auto Mode motion.

Note

  • strSymbol must match a TCP name registered with add_tcp.

  • Switching TCPs during motion is not recommended; apply at safe poses.

  • The TCP affects all task-space motion planning and force-control logic.

Example: Activating a TCP Before Auto Mode Motion

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

int main() {
    CDRFLEx drfl;

    // Activate TCP with symbol "TCP_GRIPPER_CENTER"
    if (!drfl.set_tcp("TCP_GRIPPER_CENTER")) {
        printf("Failed to activate TCP.\n");
        return -1;
    }

    // Execute Auto Mode motion using the selected TCP
    float approach[6] = {400.f, 200.f, 300.f, 180.f, 0.f, 0.f};
    drfl.movel(approach, (float[2]){80.f, 40.f}, (float[2]){300.f, 100.f});

    return 0;
}

In this example, a pre-registered TCP is activated and used for subsequent Auto Mode linear movements.

Tips

  • Use precise values (Smart Setup recommended) for best accuracy.

  • Store multiple TCPs when one tool has several usable operation points.

  • Check current TCP with get_tcp() before executing critical tasks.