# Sending TCP position through socket and URscripts

**URL:** <https://forum.universal-robots.com/t/sending-tcp-position-through-socket-and-urscripts/14255>\
**Category:** Technical Questions\
**Created:** [May 11, 2021, 9:43am UTC](https://forum.universal-robots.com/t/sending-tcp-position-through-socket-and-urscripts/14255 "2021-05-11T09:43:05Z")\
**Posts on this page:** 1\
**Showing post:** 7

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**Author:** ![anon32310726](https://avatars.discourse-cdn.com/v4/letter/a/8baadc/32.png) [@anon32310726](https://forum.universal-robots.com/u/anon32310726)\
**Post date:** [May 19, 2021, 9:14am UTC](https://forum.universal-robots.com/t/sending-tcp-position-through-socket-and-urscripts/14255/7 "2021-05-19T09:14:19Z")

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> [@pho](#):
>
> one slight correction
> 
> var1 = p[x,y,z,rx,ry,rz]

I thougt var1 = P[x,y,0,0,0,rz] because z,Rx and Ry aren’t given in the example. so it would occur in an error where z,Rx and Ry are not defined. 🙈 but indeed it is better to define z,Rx and Ry 😇

> [@anon66500826](#):
>
> So the variable= P[x,y,z,rx,ry,rz] refers to TCP coordinates, right ?  
> And a pose is a point coordinate in space alone, or along a path, right ?

almost, P[x,y,z,rx,ry,rz] is a pose in base coördinates and you tell the cobot to move the tcp to that location(x,y,z) and in that oriantation (Rx,Ry and Rz are the rotation). to create a path you need to move from pose 1 to pose 2.

take al look in this thread: [Robot theory and how to use it in UR robots](https://forum.universal-robots.com/t/robot-theory-and-how-to-use-it-in-ur-robots/3863)

Corné

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