User Manual

【TCP Offset】

● Setting the Tool Coordinate Offset with respect to the initial tool

frame located at the center of the flange (Frame B in the

above figure) . The position coordinates X, Y, and Z determine the

position of TCP, while Roll, Pitch, and Yaw determine the orientation.

When the specified value is zero, TCP coincides with the centre point

of the tool output flange.

1.4.3.1 TCP Payload

On this page, the current payload of the robotic arm can be set and the

additional TCP payload data can be recorded. The additional TCP

payload data can be referenced during Blockly programming.