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1.4.2 TCP Settings
Set TCP Payload and TCP Offset according to the actual situation.
【TCP Payload】
● The load weight refers to the actual mass (end-effector + object) in Kg;
X/Y/Z-axis represents the position of the centre of gravity of payload
in mm, this position is expressed in default TCP coordinate located at
flange center (Frame B in the above figure). If there is virtually no load
at the end, both TCP payload and centre of gravity must be set to 0.
【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,
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