Set a relative TCP

You can reference a tool (TCP) with respect to another one, for example, to define a given standoff or to place a cutter with respect to a reference or tool holder.

These steps assume that a second TCP must be added with respect to the first one at 150 mm along the Z axis:

1. Right click the robot

2. Select Getting Started - Image 24 Add Tool (TCP). A new item called Tool 2 will appear.

3. Double click this new TCP

4. Select Tool Center Point with respect to ➔Paint gun

5. Enter the coordinate Z to 150 mm and set the other translations and rotations to 0.

Getting Started - Image 25

This new TCP relative to the previously defined TCP will be removed in the next sections of this demonstration.