TCP (Tool Centre Point)
The Tool Centre Point is the reference point of a robot's tool, used to define and control motion. Accurate TCP setup is essential for precise paths.
The Tool Centre Point (TCP) is the specific point on the end effector that the robot controls and moves along programmed paths — for example the tip of a welding wire, the centre of a gripper, or the nozzle of a dispenser.
The TCP is defined relative to the wrist flange by an offset and orientation. Programmed positions, speeds, and rotations all refer to the TCP, so an incorrect TCP definition shifts every taught point and distorts circular and reoriented moves.
After mounting a new tool on a used robot, the TCP must be re-taught, usually by jogging the tip to a fixed reference point from several orientations. A correct TCP is a prerequisite for accuracy and clean offline programming.