Features
his function calls the name of the TCP registered in the Teach Pendant and sets it as the current TCP.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
name |
string |
- |
Name of the TCP registered in the TP. |
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Failed |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
Python
P0 = posj(0,0,90,0,90,0)
movej(P0)
set_tcp("tcp1") # The TCP data registered as tcp1 in the TP is called and set to the current TCP value.
P1 = posx(400,500,800,0,180,0)
movel(P1, vel=10, acc=20) # Moves the recognized center of the tool to the P1 position.
Related commands
- fkin(pos, ref, ori_type)
- ikin(pos, sol_space, ref, ref_pos_opt, iter_threshold)
- set_velx(vel1, vel2)
- movel(pos, vel, acc, time, radius, ref, mod, ra, app_type)
- movec(pos, pos2, vel, acc, time, radius, ref, mod, angle, ra, ori, app_type)
- movesx(pos_list, vel, acc, ref, mod, vel_opt)
- moveb(pos_list, vel, acc, time, ref, mod, app_type)
- move_spiral(rev, rmax, lmax, vel, acc, time, axis, ref)
- amovel(pos, vel, acc, time, ref, mod, ra, app_type)
- amovec(pos, pos2, vel, acc, time, ref, mod, angle, ra, ori, app_type)
- amovesx(pos_list, vel, acc, time, ref, mod, vel_opt)
- amoveb(pos_list, vel, acc, time, ref, mod, app_type)
- amove_spiral(rev, rmax, lmax, vel, acc, time, axis, ref)