del_tcp (Auto Mode)

This section explains how to use del_tcp to remove a previously registered Tool Center Point (TCP) from the robot controller.

This function is mainly used during system setup or maintenance to clean up unused TCP entries, rather than during normal Auto Mode task execution.

Typical usage

  • Delete outdated or incorrect TCP definitions.

  • Clean up recipe libraries when tools or reference points change.

  • Remove temporary TCPs used for calibration or development.

  • Maintain a clean, consistent controller configuration.

Note

  • Do not delete a TCP that is currently active.

  • strSymbol must exactly match the registered TCP name.

  • Typically used during commissioning or before production runs.

Example: Removing an Unused TCP

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

int main() {
    CDRFLEx drfl;

    // Delete a TCP named "TCP_TEST_POINT"
    if (!drfl.del_tcp("TCP_TEST_POINT")) {
        printf("Failed to delete TCP.\n");
        return -1;
    }

    printf("TCP successfully removed.\n");
    return 0;
}

In this example, an unused TCP entry is removed to prevent naming conflicts and maintain a clean setup.

Tips

  • Avoid deleting TCPs during motion or Auto Mode operations.

  • Remove outdated points when updating grippers or end-effector geometry.

  • Always check active TCP with get_tcp() before deletion.