.. _manual_set_tcp:

set_tcp (Manual Mode)
------------------------------------------
This section explains how to use :ref:`set_tcp <set_tcp>` in **Manual** mode 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 :ref:`add_tcp <add_tcp>`.

Available in Manual mode. In any other mode the function returns false and prints ``this command can only be used in manual mode. please change to manual mode as robot mode``. The mode check uses the value returned by :ref:`get_robot_mode <get_robot_mode>`.

.. Caution::

   On a real robot the safety board also refuses the call while the robot is moving; the motion is quick-stopped and a running program is stopped.

**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 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 Motion**

.. code-block:: cpp

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

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

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