Features
Return the currently set safety TCP information. To retrieve the temporal TCP information, use the get_temp_tcp() command.
-
Safety TCP: TCP information used for safety functions, primarily as a reference for safety zone checks.
-
Temporal TCP: TCP information used for motion and control functions, serving as the center for workspace motions such as movel() and for force/compliance control. When the temporal TCP is reset using the reset_temp_tcp() command, it will revert to the currently set safety TCP.
Return
|
Value |
Data Types |
Description |
|---|---|---|
|
ret |
class.config_tcp_symbol |
TCP Setup Infomation |
Class
class.config_tcp_symbol
|
||
|
Field |
Data Types |
Description |
|---|---|---|
|
obj |
list |
Object information for that class |
|
symbol |
string |
TCP Name |
|
tcp |
class.config_tcp |
TCP Information |
class.config_tcp
|
||
|
Field |
Data Types |
Description |
|---|---|---|
|
obj |
list |
Object information for that class |
|
offset |
float[6] |
TCP pose information based on the flange coordinate system (position and orientation). Orientation is expressed in Euler ZYX angles, with units in (mm, deg). |
Example
ret = get_current_tcp()
print(ret.symbol) ## tcp symbol
print(ret.tcp.offset) ## tcp target pos list