For information on the latest version, please have a look at 1.33.5.
del_tcp
This function deletes a previously registered TCP (Tool Center Point) entry from the robot controller. Only TCPs that were manually added (via add_tcp) can be deleted. Once removed, the TCP will no longer be available for selection until it is re-registered.
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 get_robot_mode. 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.
Definition
DRFLEx.h within class CDRFLEx, public section
bool del_tcp(string strSymbol) {
return _del_tcp(_rbtCtrl, strSymbol.c_str());
};
Parameter
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
strSymbol |
string |
The name of the TCP to delete. |
Return
Value |
Description |
|---|---|
0 |
Error — failed to delete TCP |
1 |
Success — TCP deletion completed successfully |
Example
float fTCP[6] = {10.f, 10.f, 10.f, 0.f, 0.f, 0.f};
// (1) Register a new TCP
drfl.add_tcp("tcp#1", fTCP);
// (2) Set it as the 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, activate it, and then remove it from the controller’s registry when it is no longer needed.