ABB OmniCore S Series Operating Manual page 119

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.
Operating manual - OmniCore
3HAC065036-001 Revision: E
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6 Programming and testing
6.6.2 What is the tool center point?
Continued
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