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)