What Is The Tool Center Point - ABB IRC5 with FlexPendant Operating Manual

5 Programming and testing

5.5.2 What is the tool center point?

5.5.2 What is the tool center point?
Illustration
The illustration shows how the tool center point (TCP) is the point around which
the orientation of the tool/manipulator wrist is being defined.
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Description
The tool center point (TCP) is the point in relation to which all robot positioning is
defined. Usually the TCP is defined as relative to a position on the manipulator
turning disk.
The TCP will be jogged or moved to the programmed target position. The tool
center point also constitutes the origin of the tool coordinate system.
The robot system can handle a number of TCP definitions, but only one can be
active at any one time.
There are two basic types of TCPs: moveable or stationary.
Moving TCP
The vast majority of all applications deal with moving TCP, i.e. a TCP that moves
in space along with the manipulator.
A typical moving TCP can be defined in relation to, for example the tip of a arc
welding gun, the center of a spot welding gun, or the end of a grading tool.
Stationary TCP
In some applications a stationary TCP is used, for example when a stationary spot
welding gun is used. In such cases the TCP can be defined in relation to the
stationary equipment instead of the moving manipulator.
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Operating manual - IRC5 with FlexPendant
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