{"id":85900,"date":"2023-02-20T17:40:47","date_gmt":"2023-02-20T09:40:47","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=85900"},"modified":"2023-10-24T13:45:19","modified_gmt":"2023-10-24T05:45:19","slug":"what-are-base-and-tcp%ef%bc%9fhow-to-use-them","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/ko\/docs\/what-are-base-and-tcp%ef%bc%9fhow-to-use-them\/","title":{"rendered":"What Are Base and TCP\uff1fHow to Use Them?"},"content":{"rendered":"<p><strong>Examples are valid for<\/strong><\/p>\n<p>TMflow Software version: 1.76 or above<\/p>\n<p>TM Robot Hardware version: All versions<\/p>\n<p>Other specific requirements: No.<\/p>\n<p>Note that older or newer software versions may have different results.<\/p>\n<p>&nbsp;<\/p>\n<h2>Goal<\/h2>\n<p>Most common questions are:<\/p>\n<ul>\n<li><span style=\"color: #ff0000;\">How to use BASE and TCP correctly<\/span>?<\/li>\n<li>Could I record all robot points with <span style=\"color: #ff0000;\">default BASE (RobotBase)<\/span> and <span style=\"color: #ff0000;\">default TCP (NOTOOL)<\/span>?<\/li>\n<li>Why there are different <span style=\"color: #ff0000;\">BASE\/TCP<\/span> on Points Node in my TMflow project?<\/li>\n<li>What are the meaning of <span style=\"color: #ff0000;\">CustomBase<\/span> and <span style=\"color: #ff0000;\">VisionBase<\/span>?<\/li>\n<li>How could I set <span style=\"color: #ff0000;\">multiple TCP<\/span> if there are <span style=\"color: #ff0000;\">2 grippers<\/span> on my robot?<\/li>\n<\/ul>\n<p>By reading this article, those questions should be answered.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-86001\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7.png\" alt=\"\" width=\"975\" height=\"614\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7.png 975w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7-300x189.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7-768x484.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-7-360x227.png 360w\" sizes=\"(max-width: 975px) 100vw, 975px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h2>Key Elements of a Robot Movement<\/h2>\n<p>To begin with, we need to know the basic approach to control the movement:<\/p>\n<p><span style=\"color: #0000ff;\">Move <\/span><span style=\"color: #ff0000;\">something<\/span> <span style=\"color: #0000ff;\">to <\/span><span style=\"color: #ff0000;\">somewhere<\/span>.<\/p>\n<p>&nbsp;<\/p>\n<p>For example:<\/p>\n<p><span style=\"color: #0000ff;\">Move <\/span>[<span style=\"color: #ff0000;\">index finger<\/span>] <span style=\"color: #0000ff;\">to<\/span> [<span style=\"color: #ff0000;\">ENTER on the keyboard<\/span>].<\/p>\n<p>Translate it to robot command and it will be:<\/p>\n<p><span style=\"color: #0000ff;\">Move<\/span> [<span style=\"color: #ff0000;\">TCP<\/span>] <span style=\"color: #0000ff;\">to<\/span> [ <span style=\"color: #ff0000;\">position<\/span> referenced to <span style=\"color: #ff0000;\">CustomBase1<\/span>]<\/p>\n<p>&nbsp;<\/p>\n<p>Now we know the basic elements to complete a movement are:<\/p>\n<p><span style=\"color: #ff0000;\">Position<\/span><\/p>\n<p><span style=\"color: #ff0000;\">TCP<\/span><\/p>\n<p><span style=\"color: #ff0000;\">BASE<\/span>(CustomBase, coordinate, origin)<\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-85912\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6.png\" alt=\"\" width=\"1270\" height=\"504\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6.png 1270w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-300x119.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-1024x406.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-768x305.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-360x143.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-6-1000x397.png 1000w\" sizes=\"(max-width: 1270px) 100vw, 1270px\" \/><\/a><\/p>\n<h2>Notation of a Coordinate<\/h2>\n<p>This is the notation of a coordinate. You can use the <span style=\"color: #ff0000;\">right-hand rule<\/span> to know the relationship between X, Y and Z axes.<\/p>\n<p>Where X axis is in <span style=\"color: #ff0000;\">RED<\/span>, Y axis is <span style=\"color: #339966;\">GREEN<\/span> and <span style=\"color: #0000ff;\">BLUE<\/span> for Z axis.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9.png\"><img loading=\"lazy\" class=\"size-full wp-image-85931 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9.png\" alt=\"\" width=\"522\" height=\"325\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9.png 522w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9-300x187.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-9-360x224.png 360w\" sizes=\"(max-width: 522px) 100vw, 522px\" \/><\/a><\/p>\n<h2>Position<\/h2>\n<p><span style=\"color: #ff0000;\">Position<\/span> describes how far and the orientation relativate to <span style=\"color: #ff0000;\">BASE<\/span>.<\/p>\n<p>It consists of [X, Y, Z, Rx, Ry, Rz]<\/p>\n<p>&nbsp;<\/p>\n<h3>Translation X, Y, Z<\/h3>\n<p>[<span style=\"color: #ff0000;\">X, Y, Z<\/span>] are the distance to <span style=\"color: #ff0000;\">BASE.X<\/span> axis, <span style=\"color: #ff0000;\">BASE.Y<\/span> axis and <span style=\"color: #ff0000;\">BASE.Z<\/span> axis respectively.<\/p>\n<p>The unit of [X, Y, Z] is length, normally is in <span style=\"color: #ff0000;\">mm<\/span>, [100.5, -70, 33.1] for example.<\/p>\n<p>&nbsp;<\/p>\n<p>There is an example of a position with <span style=\"color: #ff0000;\">same orientation<\/span> to <span style=\"color: #ff0000;\">BASE(CustomBase1)<span style=\"color: #000000;\">, [Rx, Ry, Rz] are [0,0,0] is this case:<\/span><\/span><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8.png\"><img loading=\"lazy\" class=\"size-full wp-image-85925 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8.png\" alt=\"\" width=\"734\" height=\"249\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8.png 734w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8-300x102.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-8-360x122.png 360w\" sizes=\"(max-width: 734px) 100vw, 734px\" \/><\/a><\/p>\n<h3>Orientation Rx, Ry, Rz<\/h3>\n<p>The translation of <span style=\"color: #ff0000;\">X,Y,Z<\/span> is easy to understand. But how about the <span style=\"color: #0000ff;\">orientation Rx,Ry,Rz<\/span>\u00a0?<\/p>\n<p>Just like <span style=\"color: #ff0000;\">X,Y,Z<\/span> represents <span style=\"color: #ff0000;\">translation<\/span> in 3-dimension world, <span style=\"color: #0000ff;\">Rx,Ry,Rz<\/span> are for the <span style=\"color: #0000ff;\">orientation<\/span> that<span style=\"color: #0000ff;\">\u00a0X,Y,Z axis <\/span>after <span style=\"color: #0000ff;\">R<\/span>otated.<\/p>\n<p>&nbsp;<\/p>\n<p>There are lots of notations that could represnet orientation, TM robot uses <strong><span style=\"color: #0000ff;\">EulerZYX<\/span> <\/strong>noation for orientation, we will introduce <span style=\"color: #0000ff;\"><strong>EulerZYX<\/strong> <\/span>at the end of this section.<\/p>\n<p>The unit of <span style=\"color: #0000ff;\">Rx\/Ry\/Rz <span style=\"color: #000000;\">i<\/span><\/span>s \u02da, range [-180.0~+180.0]. For example, [-45.9, 179.0, 30]<\/p>\n<p>&nbsp;<\/p>\n<p>The direction of each axis could be found with <span style=\"color: #ff0000;\">right-hand rule<\/span> too.<\/p>\n<p>If the <span style=\"color: #ff0000;\">thumb<\/span> represents the <span style=\"color: #ff0000;\">axis<\/span>, then the <span style=\"color: #ff0000;\">four fingers<\/span> are the direction of <span style=\"color: #ff0000;\">positive<\/span>, or <span style=\"color: #ff0000;\">anti-clock-wise<\/span> direction if you look from the top of thumb.\u00a0<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11.png\"><img loading=\"lazy\" class=\"size-full wp-image-85951 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11.png\" alt=\"\" width=\"749\" height=\"531\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11.png 749w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11-300x213.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-11-360x255.png 360w\" sizes=\"(max-width: 749px) 100vw, 749px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3><strong>Example1 &#8211; Only Rz<\/strong><\/h3>\n<p>Continue with previous example, now we add <span style=\"color: #0000ff;\">Rz = +90\u02da<\/span><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10.png\"><img loading=\"lazy\" class=\"size-full wp-image-85945 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10.png\" alt=\"\" width=\"749\" height=\"531\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10.png 749w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10-300x213.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-10-360x255.png 360w\" sizes=\"(max-width: 749px) 100vw, 749px\" \/><\/a><\/p>\n<p>There is the animation of rotating in Z axis of <span style=\"color: #0000ff;\">+90\u02da<\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Orientation.gif\"><img loading=\"lazy\" class=\"size-full wp-image-85939 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Orientation.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3><strong>Example2 &#8211; Rz first, then Ry and then Rx (EulerZYX)<\/strong><\/h3>\n<p>Unlike <span style=\"color: #ff0000;\">X,Y,Z<\/span> are independent to each other(and easier to understand), the relationship of <span style=\"color: #0000ff;\">Rx,Ry,Rz<\/span> are much more complicated\u00a0so we&#8217;re going to introduce <span style=\"color: #0000ff;\"><strong>EulerZYX<\/strong><span style=\"color: #000000;\">.<\/span><\/span><\/p>\n<p>&nbsp;<\/p>\n<p><span style=\"color: #0000ff;\"><strong>EulerZYX Notation with Rx,Ry,Rz<\/strong><\/span><br \/>\nStep1. With <span style=\"color: #ff0000;\">BASE<\/span> coordinate, rotate <span style=\"color: #0000ff;\">Z<\/span> <span style=\"color: #0000ff;\">axis<\/span> in <span style=\"color: #000000;\"><span style=\"color: #0000ff;\">Rz<\/span>\u02da<\/span><\/p>\n<p>Step2. <span style=\"color: #000000;\">Then r<\/span>otate <span style=\"color: #0000ff;\">Y axis<\/span> in <span style=\"color: #0000ff;\">Ry<\/span><span style=\"color: #000000;\">\u02da<\/span><\/p>\n<p>Step3. <span style=\"color: #000000;\">Then ro<\/span>tate <span style=\"color: #0000ff;\">X axis<\/span> in <span style=\"color: #0000ff;\">Rx<\/span><span style=\"color: #000000;\">\u02da<\/span><\/p>\n<p>Since it is in the order of <span style=\"color: #0000ff;\">Z axis<\/span> rotation -&gt;<span style=\"color: #339966;\"> Y axis<\/span> rotation -&gt; <span style=\"color: #ff0000;\">X axis<\/span> rotation, it&#8217;s named Euler<span style=\"color: #0000ff;\">Z<span style=\"color: #339966;\">Y<\/span><span style=\"color: #ff0000;\">X<\/span><\/span>.<\/p>\n<p>&nbsp;<\/p>\n<p>Here is the <span style=\"color: #ff0000;\">demonstation<\/span> of the result after a coordinate roated with [Rx, Ry, Rz] = [30, -45, 90], easier to understand.<\/p>\n<p>Note that <span style=\"color: #ff0000;\">anti-clock-wise<\/span> is for <span style=\"color: #ff0000;\">positive<\/span> direction.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15.png\"><img loading=\"lazy\" class=\"size-full wp-image-85988 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15.png\" alt=\"\" width=\"1414\" height=\"812\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15.png 1414w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-300x172.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-1024x588.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-768x441.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-360x207.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-15-1000x574.png 1000w\" sizes=\"(max-width: 1414px) 100vw, 1414px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Orientation2.gif\"><img loading=\"lazy\" class=\"size-full wp-image-85979 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Orientation2.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<blockquote><p>Note<\/p>\n<p>(1) There are 12 combinations of <span style=\"color: #0000ff;\">Euler Angle<\/span> representative, for example EulerXYX, Euler ZXZ&#8230;, <span style=\"color: #0000ff;\"><strong>EulerZYX<\/strong> <\/span>is one of them and it&#8217;s most common in industrial robot system.<\/p>\n<p>(2) <strong><span style=\"color: #0000ff;\">EulerZYX<\/span> <\/strong>mean rotate <span style=\"color: #0000ff;\">Z axis<\/span> first, then <span style=\"color: #0000ff;\">Y axis<\/span> and <span style=\"color: #0000ff;\">X axis<\/span> respectively.<\/p><\/blockquote>\n<p>&nbsp;<\/p>\n<h2>TCP &#8211; Tool Center Point<\/h2>\n<p>TCP, as known as<span style=\"color: #ff0000;\"> T<\/span>ool <span style=\"color: #ff0000;\">C<\/span>enter <span style=\"color: #ff0000;\">P<\/span>oint, is the <span style=\"color: #ff0000;\">position<\/span> value related to the <span style=\"color: #ff0000;\">robot flange<\/span>.<\/p>\n<p><span style=\"color: #ff0000;\">Only ONE TCP works at the same time (currect TCP). <span style=\"color: #000000;\">It is<span style=\"color: #ff0000;\"> NOTOOL(Tool0)<\/span> by default.<\/span><\/span><\/p>\n<p>This is an example of a TCP on a welding torch:<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png\"><img loading=\"lazy\" class=\" wp-image-86059 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png\" alt=\"\" width=\"233\" height=\"415\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png 408w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14-168x300.png 168w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14-287x512.png 287w\" sizes=\"(max-width: 233px) 100vw, 233px\" \/><\/a><\/p>\n<p>Remember the first example : Move the <span style=\"color: #ff0000;\">finger<\/span> to the ENTER on the keyboard? We will use the word <span style=\"color: #ff0000;\"><em>tip(finger)<\/em>\u00a0<\/span>to imply TCP in following section for better understanding.<\/p>\n<p>&nbsp;<\/p>\n<h3><strong>Why TCP?<\/strong><\/h3>\n<p>TCP means the correct tip that you&#8217;re using right now. To explain, let&#8217;s start with a scenario.<\/p>\n<p>Move the robot to <span style=\"color: #ff0000;\">position-p1<\/span>, related to BASE <span style=\"color: #ff0000;\">RobotBase<span style=\"color: #000000;\">. One with default TCP(<span style=\"color: #ff0000;\">NOTOOL<\/span>), another one with a welding torch TCP(<span style=\"color: #ff0000;\">MyTCP1<\/span>)<\/span><\/span><\/p>\n<p>Both of them are physically <span style=\"color: #ff0000;\">same position<\/span> in real world, but with <span style=\"color: #ff0000;\">different tips<\/span>:<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12.png\"><img loading=\"lazy\" class=\"size-full wp-image-86014 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12.png\" alt=\"\" width=\"1440\" height=\"535\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12.png 1440w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-300x111.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-1024x380.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-768x285.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-360x134.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-12-1000x372.png 1000w\" sizes=\"(max-width: 1440px) 100vw, 1440px\" \/><\/a><\/p>\n<p>Here comes the advantages of using correct TCP.<\/p>\n<h3><strong>Advantage1 &#8211; Jog the Robot with Correct Tool Tip.<\/strong><\/h3>\n<p>When you are teaching a point, it&#8217;s much more easier to jog if the robot know where the tip is. And you can rotate the tool <span style=\"color: #ff0000;\">at the specific point<\/span> you want. That&#8217;s why we need TCP.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP1.gif\"><img loading=\"lazy\" class=\"size-full wp-image-86021 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP1.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3><strong>Advantage2 &#8211; Keep the Path wihle Modifying TCP Length<\/strong><\/h3>\n<p>Take welding application for example. If the path is taught with correct TCP, then you can <span style=\"color: #ff0000;\">adjust the value of TCP<\/span> and the robot will try to <span style=\"color: #ff0000;\">keep the tip on the same path<\/span> with different TCP offset. That will save plenty of time when you have lots of points to modify.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5.png\"><img loading=\"lazy\" class=\"wp-image-86027 alignleft\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5.png\" alt=\"\" width=\"351\" height=\"331\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5.png 674w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5-300x283.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-5-360x339.png 360w\" sizes=\"(max-width: 351px) 100vw, 351px\" \/><\/a><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP2.gif\"><img loading=\"lazy\" class=\"alignnone wp-image-86033\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP2.gif\" alt=\"\" width=\"424\" height=\"239\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h3><strong>Advantage3 &#8211; Move the Robot along TCP Direction<\/strong><\/h3>\n<p>Correct TCP also tells the right coordinate to the robot, so you can leverage TMflow function such as MOVE NODE to <span style=\"color: #ff0000;\">move the robot along current TCP direction<\/span>. It is useful in applications such as parts inserting .<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13.png\"><img loading=\"lazy\" class=\"alignnone wp-image-86039\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13.png\" alt=\"\" width=\"296\" height=\"335\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13.png 588w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13-266x300.png 266w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-13-360x407.png 360w\" sizes=\"(max-width: 296px) 100vw, 296px\" \/><\/a> \u00a0 \u00a0 \u00a0 <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP3.gif\"><img loading=\"lazy\" class=\"alignnone wp-image-86051\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP3.gif\" alt=\"\" width=\"478\" height=\"269\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3><strong>How to Set TCP?<\/strong><\/h3>\n<p>There are two ways to enter the TCP value.<\/p>\n<p>Go to <strong><em>TMflow &gt; Menu &gt; Setting &gt; TCP Settings<\/em>\u00a0<\/strong><\/p>\n<p>&nbsp;<\/p>\n<p><strong>Method1 &#8211; Teaching<\/strong><\/p>\n<p>Install a sharp tip or needle on the TCP you want. Prepare another stationary tip on the table.<\/p>\n<p><span style=\"color: #ff6600;\">Teach the TCP with multiple points. Please refer to <strong><em>TMflow manual<\/em><\/strong> or search <strong><em>UNDERSTANDING THE VISION BASE AND TCP<\/em><\/strong> in technical document for more information. But you can not teach the Rx, Ry, Rz for TCP with this method.<\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16.png\"><img loading=\"lazy\" class=\"size-full wp-image-86065 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16.png\" alt=\"\" width=\"909\" height=\"212\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16.png 909w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16-300x70.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16-768x179.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-16-360x84.png 360w\" sizes=\"(max-width: 909px) 100vw, 909px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><strong>Method2 &#8211; Direct Inpiut<\/strong><\/p>\n<p>Get the <span style=\"color: #ff0000;\">position<\/span> value of the TCP in CAD software, you will need at least [X, Y, Z, Rx, Ry, Rz]<\/p>\n<p>Note that the <span style=\"color: #ff0000;\">mass <\/span>and the <span style=\"color: #ff0000;\">center of mass<\/span> are necessary or the robot might <span style=\"color: #ff0000;\">detect collision<\/span> during running project with <span style=\"color: #ff0000;\">wrong mass data<\/span>.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png\"><img loading=\"lazy\" class=\"wp-image-86059 alignleft\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png\" alt=\"\" width=\"233\" height=\"415\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14.png 408w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14-168x300.png 168w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-14-287x512.png 287w\" sizes=\"(max-width: 233px) 100vw, 233px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17.png\"><img loading=\"lazy\" class=\"wp-image-86071 alignnone\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17.png\" alt=\"\" width=\"574\" height=\"342\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17.png 909w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17-300x179.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17-768x457.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-17-360x214.png 360w\" sizes=\"(max-width: 574px) 100vw, 574px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>Once the TCP is set properly, you can check if the tip(TCP) is stationary in space when you jog the robot with rotational movement.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP4.gif\"><img loading=\"lazy\" class=\"size-full wp-image-86180 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP4.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3><strong>Exercise<\/strong> &#8211; Two TCP<\/h3>\n<p>Here is the excercise for two TCP setting. This configuration of tool usually used in machine tending.<\/p>\n<p>Please calculate TCP1 and TCP2 in [X,Y,Z,Rx,Ry,Rz] with <span style=\"color: #ff0000;\">desired direction<\/span> as below.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19.png\"><img loading=\"lazy\" class=\"size-full wp-image-86084 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19.png\" alt=\"\" width=\"1446\" height=\"695\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19.png 1446w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-300x144.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-1024x492.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-768x369.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-360x173.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-19-1000x481.png 1000w\" sizes=\"(max-width: 1446px) 100vw, 1446px\" \/><\/a><\/p>\n<p>Here is the answer:<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20.png\"><img loading=\"lazy\" class=\"size-full wp-image-86090 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20.png\" alt=\"\" width=\"713\" height=\"656\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20.png 713w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20-300x276.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-20-360x331.png 360w\" sizes=\"(max-width: 713px) 100vw, 713px\" \/><\/a><\/p>\n<h3>TCP &#8211; HandCamera<\/h3>\n<p>With robot that equipped with <span style=\"color: #ff0000;\">camera on hand<\/span>(or Eye-in-Hand camera, <span style=\"color: #ff0000;\">EIH<\/span> camera) after vision calibration, there will be a TCP named <span style=\"color: #ff0000;\">HandCamera<\/span>. That is the TCP mounted at the center of camera. You can use it as a normal TCP in vision application.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18.png\"><img loading=\"lazy\" class=\"size-full wp-image-86167 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18.png\" alt=\"\" width=\"1183\" height=\"466\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18.png 1183w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-300x118.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-1024x403.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-768x303.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-360x142.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-18-1000x394.png 1000w\" sizes=\"(max-width: 1183px) 100vw, 1183px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h2>BASE- The Origin<\/h2>\n<p><span style=\"color: #ff0000;\">BASE <\/span>is the origin or the coordinate, which is the <span style=\"color: #ff0000;\">reference<\/span> that <span style=\"color: #ff0000;\">Position[X,Y,Z,Rx,Ry,Rz]<\/span>\u00a0refers to.<\/p>\n<p><span style=\"color: #ff0000;\">BASE<\/span> is the <span style=\"color: #ff0000;\">collection<\/span> of <span style=\"color: #ff0000;\">CustomBase<\/span>, <span style=\"color: #ff0000;\">VisionBase<\/span>, <span style=\"color: #ff0000;\">RobotBase<\/span>.<\/p>\n<p><span style=\"color: #ff0000;\">Only ONE BASE works at the same time (currect BASE). <span style=\"color: #000000;\">It is <span style=\"color: #ff0000;\">RobotBase<\/span> by default.<\/span><\/span><\/p>\n<p>&nbsp;<\/p>\n<p>Let&#8217;s consider the simple scenario, run the robot with points:<\/p>\n<p>P_StandBy -&gt; <span style=\"color: #ff0000;\">P1 &#8211;<\/span>&gt;<span style=\"color: #ff0000;\"> P2<\/span> -&gt; <span style=\"color: #ff0000;\">P3<\/span> -&gt; <span style=\"color: #ff0000;\">P4<\/span> -&gt; <span style=\"color: #ff0000;\">P1<\/span> -&gt; P_StandBy, with a BASE named <span style=\"color: #ff0000;\">CustomBase1<span style=\"color: #000000;\">:<\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/BASE1.gif\"><img loading=\"lazy\" class=\"size-full wp-image-86210 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/BASE1.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>Each point are refer to <span style=\"color: #ff0000;\">CustomBase1<\/span>. Take <span style=\"color: #ff0000;\">P3<\/span> for example, the <span style=\"color: #ff0000;\">position<\/span> of <span style=\"color: #ff0000;\">P3<\/span> = [X,Y,Z,Rx,Ry,Rz] = [300, 400, 100, 180, 0, 180] related to <span style=\"color: #ff0000;\">CustomBase1<\/span>:<\/p>\n<p>Note that [Rx,Ry,Rz] is [180,0,180] since it&#8217;s <span style=\"color: #ff0000;\">rotated<\/span> with Rx and Rz compared to <span style=\"color: #ff0000;\">CustomBase1<span style=\"color: #000000;\">:<\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21.png\"><img loading=\"lazy\" class=\"size-full wp-image-86217 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21.png\" alt=\"\" width=\"1505\" height=\"656\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21.png 1505w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-300x131.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-1024x446.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-768x335.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-360x157.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-21-1000x436.png 1000w\" sizes=\"(max-width: 1505px) 100vw, 1505px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>Why BASE?<\/h3>\n<p>There are advantages of using correct BASE:<\/p>\n<h3>Advantage1 &#8211; Path Correction &amp; TMLandmark<\/h3>\n<p>When the table(where the <span style=\"color: #ff0000;\">BASE <\/span>is attached to) <span style=\"color: #ff0000;\">moves<\/span>, you can <span style=\"color: #ff0000;\">re-define the BASE <\/span>so all the path should be correctd at the same time. It&#8217;s not easy and you will need to modify all the points if you don&#8217;t have correct BASE.<\/p>\n<p>Even the table is tilted, the <span style=\"color: #ff0000;\">correct BASE <\/span>will tell the robot where the <span style=\"color: #ff0000;\">correct path<\/span> is:<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27.png\"><img loading=\"lazy\" class=\" wp-image-86314 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27.png\" alt=\"\" width=\"807\" height=\"376\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27.png 1330w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-300x140.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-1024x477.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-768x357.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-360x168.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-27-1000x465.png 1000w\" sizes=\"(max-width: 807px) 100vw, 807px\" \/><\/a><\/p>\n<p><span style=\"color: #ff0000;\">TM Landmark<\/span> is a powerful gadget working with EIH camera. Create a VISIONJOB NODE in a TMflow program, then the robot will <span style=\"color: #ff0000;\">update<\/span> the <span style=\"color: #ff0000;\">VisionBase<\/span> everytime when it find a <span style=\"color: #ff0000;\">TM Landmark<\/span> in sight. It <span style=\"color: #ff0000;\">WORKS<\/span> even if it&#8217;s tilted since the robot could recognize it in 3D space.<\/p>\n<p><span style=\"color: #ff6600;\">Please refer to <strong><em>TMvision manual<\/em><\/strong> or search <strong><em>UNDERSTANDING THE VISION BASE AND TCP<\/em><\/strong> in technical document for more information.<\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28.png\"><img loading=\"lazy\" class=\"size-full wp-image-86327 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28.png\" alt=\"\" width=\"1375\" height=\"638\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28.png 1375w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-300x139.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-1024x475.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-768x356.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-360x167.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-28-1000x464.png 1000w\" sizes=\"(max-width: 1375px) 100vw, 1375px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h3>Advantage2 &#8211; Point\/Path Duplication<\/h3>\n<p>You can duplicate path from <span style=\"color: #ff0000;\">table1<\/span> to <span style=\"color: #ff0000;\">table2<\/span>, <span style=\"color: #ff0000;\">table3<\/span>&#8230;and so on.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/BASE2.gif\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-86223\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/BASE2.gif\" alt=\"\" width=\"600\" height=\"338\" \/><\/a> <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22.png\">\u00a0 \u00a0\u00a0<\/a><\/p>\n<p>&nbsp;<\/p>\n<p>You can duplicate <strong>POINT NODE<\/strong> and assign them from <span style=\"color: #ff0000;\">BASE1<\/span>to <span style=\"color: #ff0000;\">BASE2 <\/span>and more.<\/p>\n<p>By this method, you can duplicate many tasks with specific BASE without teaching points one by one. It will <span style=\"color: #ff0000;\">save plenty of time<\/span> especially when there are<span style=\"color: #ff0000;\"> lots of point<\/span>s to teach.<\/p>\n<p><img loading=\"lazy\" class=\"wp-image-86259 alignleft\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24.png\" alt=\"\" width=\"528\" height=\"375\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24.png 1115w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-300x213.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-1024x726.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-768x545.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-360x255.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-24-1000x709.png 1000w\" sizes=\"(max-width: 528px) 100vw, 528px\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22.png\"><img loading=\"lazy\" class=\"alignnone wp-image-86229\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22.png\" alt=\"\" width=\"317\" height=\"294\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22.png 442w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22-300x278.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-22-360x333.png 360w\" sizes=\"(max-width: 317px) 100vw, 317px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h3>BASE &#8211; RobotBase, CustomBase, VisionBase<\/h3>\n<p><span style=\"color: #ff0000;\">BASE<\/span> is the <span style=\"color: #ff0000;\">collection<\/span> of <span style=\"color: #ff0000;\">CustomBase<\/span>, <span style=\"color: #ff0000;\">VisionBase<\/span>, <span style=\"color: #ff0000;\">RobotBase<\/span>, here is the comparison.<\/p>\n<p>CustomBase : The base that you can define, you can create it by yourself. Could be more than one.<\/p>\n<p>RobotBase : Fixed at the buttom of robot, could not be modified. Only one.<\/p>\n<p>VisionBase : Exists when a VisionJob is created. Could be more than one.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29.png\"><img loading=\"lazy\" class=\"size-full wp-image-86341 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29.png\" alt=\"\" width=\"1469\" height=\"612\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29.png 1469w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-300x125.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-1024x427.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-768x320.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-360x150.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-29-1000x417.png 1000w\" sizes=\"(max-width: 1469px) 100vw, 1469px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>How to Define BASE?<\/h3>\n<ul>\n<li>Create a correct TCP first<\/li>\n<li>Go to <strong><em>TMflow &gt; Menu &gt; Project &gt; Base Manager &gt; By pointing 3 points<\/em><\/strong> to define a new BASE<\/li>\n<\/ul>\n<p><span style=\"color: #ff6600;\">Please refer to <strong><em>TMflow manual<\/em><\/strong> for more information.<\/span><\/p>\n<p>Here is the example of defining a BASE <span style=\"color: #ff0000;\">Base1 <span style=\"color: #000000;\">with [X,Y,Z,Rx,Ry,Rz] = [300, 0, 300, 5.71, 0, 0], this <span style=\"color: #ff0000;\">position value<\/span> refers to <span style=\"color: #ff0000;\">RobotBase<\/span>.<\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-86372\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31.png\" alt=\"\" width=\"1402\" height=\"568\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31.png 1402w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-300x122.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-1024x415.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-768x311.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-360x146.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-31-1000x405.png 1000w\" sizes=\"(max-width: 1402px) 100vw, 1402px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h2>Conclusion<\/h2>\n<ul>\n<li>Define and select correct TCP and BASE when you start a new TMflow Project<\/li>\n<li>Leverage the advantage of TM Landmark in your vision application<\/li>\n<li>Everytime when a point is created, robot will record the <span style=\"color: #ff0000;\">current position<\/span> based on the <span style=\"color: #ff0000;\">current BASE<\/span> and <span style=\"color: #ff0000;\">TCP<\/span><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-86378\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32.png\" alt=\"\" width=\"1159\" height=\"577\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32.png 1159w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-300x149.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-1024x510.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-768x382.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-360x179.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-32-1000x498.png 1000w\" sizes=\"(max-width: 1159px) 100vw, 1159px\" \/><\/a><\/li>\n<\/ul>\n<h2>Q&amp;A<\/h2>\n<h3>I had calibrated TCP and BASE already, but there is still little deviation when I duplicated a path from other robots?<\/h3>\n<p>There are lots of calibrations that should be done on the TM robot(EIH calibration, DH calibration&#8230;etc). But even if every calibration is done correctly, there are still tiny deviations(could be several mm in some cases) comes from the sum of:<\/p>\n<ul>\n<li>TCP deviation<\/li>\n<li>DH deviation<\/li>\n<li>Camera deviation<\/li>\n<li>Mechnical tolerance<\/li>\n<li>&#8230;<\/li>\n<\/ul>\n<p>With correct BASE and TCP, you can minimize the time to duplicate path to targeted robot. But in case you need very accurate position(i.e., less than 0.5mm), we suggest you to re-reach the point node directly.<\/p>\n<p>&nbsp;<\/p>\n<h3>Could I use robot without TCP and BASE?<\/h3>\n<p>Sure. Actually you&#8217;re using TCP <span style=\"color: #ff0000;\">NOTOOL<\/span>(at robot flange) and <span style=\"color: #ff0000;\">RobotBase<span style=\"color: #000000;\">(at the bottom of robot). Normally there are <span style=\"color: #ff0000;\">no difference<\/span> if you just look the robot while running no matter <span style=\"color: #ff0000;\">with your TCP<\/span> or <span style=\"color: #ff0000;\">NOTOOL<\/span>. <\/span><\/span><span style=\"color: #ff0000;\"><span style=\"color: #000000;\">But in the future, if you want to <span style=\"color: #ff0000;\">extend the length of TCP<\/span>, you have to re-teach all points. <\/span><\/span><\/p>\n<p><span style=\"color: #ff0000;\"><span style=\"color: #000000;\">Instead, if you used correct TCP at the beginning, you c<\/span><\/span><span style=\"color: #ff0000;\"><span style=\"color: #000000;\">an modify the value of TCP and start to run your project, it will be easier for you if there are lots of points to re-teach.<\/span><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP5.gif\"><img loading=\"lazy\" class=\"alignnone wp-image-86414\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/TCP5.gif\" alt=\"\" width=\"414\" height=\"233\" \/><\/a><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35.png\"><img loading=\"lazy\" class=\"alignnone wp-image-86420\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35.png\" alt=\"\" width=\"357\" height=\"255\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35.png 757w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35-300x214.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-35-360x257.png 360w\" sizes=\"(max-width: 357px) 100vw, 357px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h3>How Could I switch TCP and BASE?<\/h3>\n<p>In manual mode, select <span style=\"color: #ff0000;\">BASE<\/span> and <span style=\"color: #ff0000;\">TCP<\/span> here and the robot will know which of them are using.<\/p>\n<p>When you run a TMflow project, the robot will switch to specific <span style=\"color: #ff0000;\">BASE<\/span> and <span style=\"color: #ff0000;\">TCP<\/span> based on the setting in movement node such as POINT NODE and MOVE NODE.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-33.png\"><img loading=\"lazy\" class=\"size-full wp-image-86390 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-33.png\" alt=\"\" width=\"818\" height=\"583\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-33.png 818w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-33-300x214.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-33-768x547.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/02\/Untitled-33-360x257.png 360w\" sizes=\"(max-width: 818px) 100vw, 818px\" \/><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Examples are valid for TMflow Software version: 1.76 or above TM Robot Hardware version: All versions Other specific requirements: No. Note that older or newer software versions may have different results. &nbsp; Goal Most common questions are: How to use BASE and TCP correctly? Could I record all robot points with default BASE (RobotBase) and [&hellip;]<\/p>\n","protected":false},"author":2583,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4309],"doc_tag":[2507,2503,2499,2500],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>What Are Base and TCP\uff1fHow to Use Them? | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"ko_KR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"What Are Base and TCP\uff1fHow to Use Them? | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"Examples are valid for TMflow Software version: 1.76 or above TM Robot Hardware version: All versions Other specific requirements: No. Note that older or newer software versions may have different results. &nbsp; Goal Most common questions are: How to use BASE and TCP correctly? 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