add_tcp

This function registers a new TCP (Tool Center Point) configuration in the robot controller memory. Each TCP defines a specific position and orientation of the tool’s reference point relative to the flange. Registered TCPs can later be activated with set_tcp.

Note that the TCP registration is stored in volatile memory, meaning it is cleared upon reboot unless registered via the Teach Pendant initialization process.

Definition
DRFLEx.h within class CDRFLEx, public section (line 898)

bool add_tcp(string strSymbol, float fPosition[NUM_TASK]) {
    return _add_tcp(_rbtCtrl, strSymbol.c_str(), fPosition);
};

Parameter

Parameter Name	Data Type	Default Value	Description
strSymbol	string		Name of the TCP to register. Must be unique and stored in the controller’s TCP list.
fPosition	float[6]		TCP pose data (X, Y, Z, Rx, Ry, Rz) defining the TCP position and orientation relative to the robot flange coordinate frame.

Return

Value	Description
0	Error — failed to register the TCP
1	Success — TCP registration completed successfully

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    float fTCP[6] = {10.f, 10.f, 10.f, 0.f, 0.f, 0.f};

    // (1) Register a new TCP named "tcp#1"
    drfl.add_tcp("tcp#1", fTCP);

    // (2) Set it as the currently active TCP
    drfl.set_tcp("tcp#1");

    // (3) Delete the registered TCP
    drfl.del_tcp("tcp#1");
}

This example demonstrates how to register a new TCP position, activate it for motion commands, and then remove it from the controller’s TCP registry.