Joined: May 2021
Correct and I found this out. However moving the tool around the robot wrist is a different set of transformations and the TCP around the end of the tool. Is there no way to "lock" the TCP to the tool so that when you move the geometry, the TCP moves with it. Otherwise it can become complex (and inaccurate) to redefine the TCP.
Joined: Oct 2018
No, there's no way.
I'm not so sure why it would be complex or inaccurate.
You first start by positioning the geometry, and then you position (or adjust) the TCP according to the motion you did.
If you simply did a 180 deg rotation around Z, it's fairly easy to calculate the position of the TCP after the fact.