Definition
set_temp_tcp(tcp)
Features
Set a temporal TCP during program execution. Instead of using the TCP information registered in the teach pendant, you can generate values within the program and input them directly. The safety TCP setting remains unchanged while only the temporal TCP is modified. To change the safety TCP setting, use the https://doosanrobotics-manual.atlassian.net/wiki/x/dQTkIg 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 https://doosanrobotics-manual.atlassian.net/wiki/x/sIPdIg and for force/compliance control. When the temporal TCP is reset using the https://doosanrobotics-manual.atlassian.net/wiki/x/PQABIw command, it will revert to the currently set safety TCP.
Parameters
|
Value |
Data Types |
Default Value |
Description |
|---|---|---|---|
|
tcp |
class.config_tcp |
- |
TCP Setup Infomation |
Class
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). |
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_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
tcp1 = config_tcp([0, 40, 150, 0, 180, 0])
set_temp_tcp(tcp1)
Related commands