2 Manipulator Coordinate Systems and Operations
2.3 Coordinate Systems and Axis Operation
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RE-CSO-A031
2.3.8 Control Point Change
The tool tip position (TCP) is the target point of axis operations and is set as the distance from the
flange face. The control point change operation is an axis operation that involves selecting the tool
from a list of registered tools (Refer to “Selecting the Tool” in section 2.3.4 "Tool Coordinates"), and then
manipulating the axes while changing the TCP. This can be performed with all coordinates except the
joint coordinates. The axis operation is the same as that of the motion about TCP.
<Example 1>TCP Change Operation with Multiple Tools
The TCPs for Tool 1 and Tool 2 are taken as P1 and P2, respectively. When Tool 1 is selected to
perform axis operation, P1 (Tool 1’s TCP) is the target point of the operation. Tool 2 follows Tool 1 and
is not controlled by axis operation. On the other hand, Tool 2 is selected to perform axis operation, P2
(Tool 2’s TCP) is the target point of axis operation. In this case, Tool 1 follows Tool 2.
<Example 2>TCP Change Operation with a Single Tool
The two corners of the workpiece that the tool is holding are taken as TCPs P1 and P2 respectively. By
selecting two TCPs alternately, the workpieces can be moved as shown below:
Selection of Tool 1 and axis operations with con-
trolling P1
Selection of Tool 2 and axis operations with con-
trolling P2
Motion about TCP with P1 selected Motion about TCP with P2 selected
For registration of the tool file, refer to section 8.3 “Tool Data Setting” of the “NX100
INSTRUCTIONS”.
Tool 1
P2
P2P1
P1
Tool 2
Workpiece
Workpiece
P1 P2
P2
P1
Workpiece
Workpiece
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