Universal Robots Forum

How to get TCP-configuration values Rx, Ry, Rz?

Hi,

my urcap is creating an movenode configured using the actual TCP with:

moveNode.getTCPSelectionFactory().createActiveTCPSelection();

For calculation I want to use the pose (x, y, z, rx, ry, rz) values of the actual TCP of this moveNode.

I’m not successful in reading these values.

Hi,

all the TCPSelection Interface does is configuring the seleced moveNode to use the active TCP the User has selected.
To get your TCP Pose you have 2 Options:

  • using the TCPContributionModel which only gets your internally generated TCPs by a name key, see here
  • using the TCPModel which gets a you a collection of all (internally and user defined) tcps by calling the getOffset() function, see here
1 Like

Thank you m.birkholz,

because I now do my TCP-calculations in a parent node, I used your second suggestion, works fine.

Kind regards