FlexPendant Operators Manual 3HAC16590 ... - Technology

13 Descriptions of terms and concepts13.7. What is a coordinate system?ContinuedThe tool coordinate systemxx0300000506The tool coordinate system has its zero position at the center point of the tool. It therebydefines the position and orientation of the tool. The tool coordinate system is oftenabbreviated to TCP (Tool Center Point) or TCPF (Tool Center Point Frame).It is the TCP the robot moves to the programmed positions, when executing programs. Thismeans that if you change the tool (and the tool coordinate system) the robot’s movements willbe changed so that the new TCP will reach the target.All robots have a predefined tool coordinate system, called tool0, located at the wrist of therobot. One or many new tool coordinate systems can then defined as offsets from tool0.When jogging a robot the tool coordinate system is useful when you don’t want to change theorientation of the tool during the movement, for instance moving a saw blade without bendingit.3HAC 16590-1 Revision: BContinues on next page309