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get_tcp_list()

Features

Returns all currently registered TCP information for the current safety setting parameter.

Return

Value

Data Types

Description

ret

class.config_tcp_list

All registered TCP information

Class

class.config_tcp_list

Field

Data Types

Description

obj

list

Object information for that class

count

int

Number of registered TCPs

tcp_list

class.config_tcp_symbol[50]

Registered TCP information (up to 50)
class.config_tcp_symbol

Field

Data Types

Description

obj

list

Object information for that class

symbol

string

TCP name

tcp

class.config_tcp

TCP details
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

Python
ret = get_tcp_list()
 
for i in range(0, ret.count):
    print(ret.tcp_list[i].symbol)
    print(ret.tcp_list[i].tcp.offset)