Set TCP

SUMMARY

Set TCP writes the TCP offset (flange-to-TCP transformation) to the robot controller. All subsequent Cartesian poses and moves are interpreted relative to this TCP. Equivalent to Installation → TCP on the teach pendant.

SUPPORTED ROBOTS

This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.

The Skill

robot.set_tcp(tcp_offset=[0.0, 0.0, 0.1, 0.0, 0.0, 0.0])

The Code

Example: Set a TCP 10 cm Along the Flange Z Axis

Configure a TCP offset of 10 cm along the flange Z axis with no rotation, then verify by reading back.

from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots

robot_ip = "192.168.1.2"  # replace with your robot's IP

robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)

tcp_offset = [0.0, 0.0, 0.1, 0.0, 0.0, 0.0]
robot.set_tcp(tcp_offset=tcp_offset)
logger.success(f"TCP offset set: {tcp_offset}")

actual = robot.get_tcp_offset()
logger.info(f"Readback TCP offset: {actual}")

# Disconnect
robot.disconnect()

The Explanation of the Code

set_tcp writes the TCP offset to the robot controller. tcp_offset is a 6-element vector [x, y, z, rx, ry, rz] defining the transformation from the robot flange to the tool center point. Position is in meters; orientation is in degrees. After this call, all Cartesian commands and readbacks use the new TCP frame.

How to Tune the Parameters

Parameter	Type	Default	Description
tcp_offset	list[float]	—	TCP offset [x, y, z, rx, ry, rz]. Position in meters, orientation in degrees.

Return Value

Return Type	Description
None	Returns after the TCP offset is written to the controller.

Where to Use the Skill

• Set at robot startup whenever the mounted tool changes.
• Required before Cartesian moves to ensure the correct tool center point is used.

When Not to Use the Skill

Use the read method to verify without changing:

• Use Get TCP Offset to read the currently active TCP without modifying it.