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

This function sets the currently active TCP (Tool Center Point) among the TCP configurations that have been pre-registered in the robot controller. If an empty string is passed, the TCP information is cleared and reset to default. This ensures that motion and coordinate calculations use the correct reference point for the attached end-effector or tool.

Definition
DRFLEx.h within class CDRFLEx, public section (line 894)

bool set_tcp(string strSymbol) {
    return _set_tcp(_rbtCtrl, strSymbol.c_str());
};

Parameter

Parameter Name	Data Type	Default Value	Description
strSymbol	string		Name of the TCP to activate. Must correspond to a TCP entry previously registered in the controller. If an empty string “” is passed, the active TCP is cleared.

Return

Value	Description
0	Error — failed to activate the TCP
1	Success — the TCP was successfully set as active

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // (1) Set the TCP named "tcp#1"
    drfl.set_tcp("tcp#1");

    // (2) Move using the selected TCP reference
    float point[6] = {756.6f, 511.6f, 876.6f, 44.5f, 86.7f, 55.7f};
    float vel[2]   = {30.f, 0.f};
    float acc[2]   = {30.f, 0.f};

    drfl.movej(point, vel, acc);
}

This example selects the TCP named “tcp#1” and performs a joint-space motion using that TCP as the reference frame for all position and orientation calculations.