set_temp_tcp()

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 set_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.

Parameters

Value	Data Types	Default Value	Description
tcp	class.config_tcp	-	TCP Setup Infomation

Class

Field	Data Types	Description
class.config_tcp
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

Python

tcp1 = config_tcp([0, 40, 150, 0, 180, 0])
set_temp_tcp(tcp1)

Keyword

set / set_ / tcp