{"id":83835,"date":"2022-12-09T09:19:39","date_gmt":"2022-12-09T01:19:39","guid":{"rendered":"https:\/\/www.tm-robot.com\/docs\/understanding-the-vision-base-and-tcp\/"},"modified":"2025-01-10T13:08:40","modified_gmt":"2025-01-10T05:08:40","slug":"understanding-the-vision-base-and-tcp","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/ja\/docs\/understanding-the-vision-base-and-tcp\/","title":{"rendered":"Understanding the Vision Base and TCP"},"content":{"rendered":"<p>This article is applicable under the following conditions:<\/p>\n<p>TMflow version: 1.76.6300 or later<\/p>\n<p>TM Robot hardware version: All<\/p>\n<p>Other software\/hardware requirements: N\/A<\/p>\n<p>Please note that, depending on the TMflow version, the user interface and the operation procedure may differ.<\/p>\n<h2>What is the Tool Central Point (TCP)?<\/h2>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1.png\"><img loading=\"lazy\" class=\"size-full wp-image-80095 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1.png\" alt=\"\" width=\"1260\" height=\"383\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1.png 1260w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-300x91.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-1024x311.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-768x233.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-360x109.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/whatistcp-1-1000x304.png 1000w\" sizes=\"(max-width: 1260px) 100vw, 1260px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><strong>TCP(Tool Central Point)<\/strong><\/p>\n<ul>\n<li>When a robot is manipulated to a specific point within a space, it essentially means moving the TCP toward that point.<\/li>\n<li>A robot can have several TCPs, but it can only handle one at a time.<\/li>\n<\/ul>\n<h2>How to Calibrate a TCP?<\/h2>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/tcp.png\"><img loading=\"lazy\" class=\"alignnone wp-image-83809 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/tcp.png\" alt=\"\" width=\"729\" height=\"676\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/tcp.png 729w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/tcp-300x278.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/tcp-360x334.png 360w\" sizes=\"(max-width: 729px) 100vw, 729px\" \/><\/a><\/p>\n<p><span style=\"color: #ff6600;\"><strong>Tips<\/strong><\/span><\/p>\n<ul>\n<li>Calibrated the TCP to \u2264 0.3 to ensure accuracy.<\/li>\n<li>Rotate J6 at as many different angles as possible during TCP calibration.<\/li>\n<li>If possible, keep the calibration tip away from the extension axis of the center of the flange.<\/li>\n<\/ul>\n<h2>Create a Vision Base<\/h2>\n<p><strong><u>Fixed Landmark<\/u><\/strong><\/p>\n<ul>\n<li>The original point of a vision base is the center of the Landmark (specifically, the upper-left corner of the letter \u201cB\u201d).<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark.png\"><img loading=\"lazy\" class=\"size-full wp-image-80666 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark.png\" alt=\"\" width=\"407\" height=\"453\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark.png 407w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark-270x300.png 270w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/fixlandmark-360x401.png 360w\" sizes=\"(max-width: 407px) 100vw, 407px\" \/><\/a><\/p>\n<p><strong><u>Fixed positioning<\/u><\/strong><\/p>\n<ul>\n<li>The original point of a vision base is the center of an object that is determined in the Find module for a vision job, and it can be changed by moving the Anchor.<\/li>\n<\/ul>\n<p><strong><u>Servoing<\/u><\/strong><\/p>\n<ul>\n<li>Through servoing, a position within the field of EIH camera is set as the original point of the vision base, and the axes of the camera are the same as those of the TCP HandCamera.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation.png\"><img loading=\"lazy\" class=\"size-full wp-image-80678 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation.png\" alt=\"\" width=\"377\" height=\"293\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation.png 377w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation-300x233.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/servorlocation-360x280.png 360w\" sizes=\"(max-width: 377px) 100vw, 377px\" \/><\/a><\/p>\n<h2><strong>Pair a Vision Base with a TCP<\/strong><\/h2>\n<p>&nbsp;<\/p>\n<ol>\n<li>Calibrate a TCP<\/li>\n<li>Create a vision positioning task (<em>e.g.<\/em>, fixed positioning with the Landmark)<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1.png\"><img loading=\"lazy\" class=\"size-full wp-image-80688 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1.png\" alt=\"\" width=\"513\" height=\"398\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1.png 513w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1-300x233.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step1-360x279.png 360w\" sizes=\"(max-width: 513px) 100vw, 513px\" \/><\/a><\/li>\n<li>Select a vision base and a TCP<br \/>\n<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3.png\"><img loading=\"lazy\" class=\"size-full wp-image-80694 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3.png\" alt=\"\" width=\"378\" height=\"71\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3.png 378w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3-300x56.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step3-360x68.png 360w\" sizes=\"(max-width: 378px) 100vw, 378px\" \/><\/a><\/li>\n<li>Move the robot to (0,0,0), and the calibration tip will arrive at the Landmark center.<br \/>\n<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4.png\"><img loading=\"lazy\" class=\"size-full wp-image-80708 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4.png\" alt=\"\" width=\"362\" height=\"265\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4.png 362w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4-300x220.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step4-360x264.png 360w\" sizes=\"(max-width: 362px) 100vw, 362px\" \/><\/a><\/li>\n<li>Move the robot to (20,0, -5), and the calibration tip will arrive 5 mm above the edge of the right side of the Landmark center<br \/>\n<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5.png\"><img loading=\"lazy\" class=\"size-full wp-image-80718 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5.png\" alt=\"\" width=\"448\" height=\"273\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5.png 448w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5-300x183.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/step5-360x219.png 360w\" sizes=\"(max-width: 448px) 100vw, 448px\" \/><\/a><\/li>\n<\/ol>\n<h2><b>TCP: <\/b><b>HandCamera<\/b><\/h2>\n<p>When you use an EIH camera-equipped robot, you can find a TCP named \u201cHandCamera\u201d in the TMflow task-editing page. This TCP describes the relation between the original point of the EIH camera coordinates and the flange. It can be applied in Landmark positioning:<\/p>\n<ol>\n<li><strong>Rough positioning<\/strong>: Detect the Landmark at a distance to ensure it appears in the field of view and so create the first vision base.<\/li>\n<\/ol>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d.png\"><img loading=\"lazy\" class=\"size-full wp-image-80744 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d.png\" alt=\"\" width=\"460\" height=\"224\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d.png 460w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d-300x146.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7c97\u5b9a\u4f4d-360x175.png 360w\" sizes=\"(max-width: 460px) 100vw, 460px\" \/><\/a><\/p>\n<ol>\n<li><strong>Set the TCP<\/strong>: Set HandCamera as the TCP and move it to (0,0,-150), which is where the first vison base is located<br \/>\n<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/TCP\u8a2d\u5b9a.png\"><img loading=\"lazy\" class=\"size-full wp-image-80738 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/TCP\u8a2d\u5b9a.png\" alt=\"\" width=\"331\" height=\"384\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/TCP\u8a2d\u5b9a.png 331w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/TCP\u8a2d\u5b9a-259x300.png 259w\" sizes=\"(max-width: 331px) 100vw, 331px\" \/><\/a><\/li>\n<li><strong>Precise positioning<\/strong>: Create a second vision base. Then the Landmark will appear in the field of view and stay 150 mm away from the camera. This can yield more accurate positioning results<br \/>\n<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d.png\"><img loading=\"lazy\" class=\"size-full wp-image-80750 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d.png\" alt=\"\" width=\"479\" height=\"234\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d.png 479w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d-300x147.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/\u7d30\u5b9a\u4f4d-360x176.png 360w\" sizes=\"(max-width: 479px) 100vw, 479px\" \/><\/a><\/li>\n<\/ol>\n<h2><strong>Set the TCP before Rotating the Object<\/strong><\/h2>\n<p><strong>When there is a need to rotate the object, it is necessary to set the TCP.<\/strong><\/p>\n<ol>\n<li>Create a vision base for your workpiece.<br \/>\n<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/one.png\"><img loading=\"lazy\" class=\"size-full wp-image-80769 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/one.png\" alt=\"\" width=\"277\" height=\"246\" \/><\/a><\/li>\n<li>Set the TCP.<br \/>\n<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/gripper.png\"><img loading=\"lazy\" class=\"alignnone wp-image-83817 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/gripper.png\" alt=\"\" width=\"671\" height=\"337\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/gripper.png 671w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/gripper-300x151.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/gripper-360x181.png 360w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/a><\/li>\n<li>Set where to pick up the object.<\/li>\n<li>Align the original point of the gripper with that of the vision base.\n<ul>\n<li><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/three.png\"><img loading=\"lazy\" class=\"size-full wp-image-80775 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/three.png\" alt=\"\" width=\"272\" height=\"223\" \/><\/a><\/li>\n<li>If you don\u2019t set the TCP, the flange remains at a certain distance and angle from the vision base.<br \/>\n<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/three_2.png\"><img loading=\"lazy\" class=\"size-full wp-image-80781 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/three_2.png\" alt=\"\" width=\"310\" height=\"223\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/three_2.png 310w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/12\/three_2-300x216.png 300w\" sizes=\"(max-width: 310px) 100vw, 310px\" \/><\/a><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>This article is applicable under the following conditions: TMflow version: 1.76.6300 or later TM Robot hardwar [&hellip;]<\/p>\n","protected":false},"author":7791,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4619,4148],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Understanding the Vision Base and TCP | Techman Robot<\/title>\n<meta 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