# Set TCP of Robotiq Gripper **URL:** \ **Category:** Technical Questions\ **Tags:** tcp, robotiq, grippers\ **Created:** [June 1, 2020, 6:57am UTC](https://forum.universal-robots.com/t/set-tcp-of-robotiq-gripper/7498 "2020-06-01T06:57:43Z")\ **Posts on this page:** 4\ **Page:** 1
**Author:** ![anon44063275](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\ **Post date:** [June 1, 2020, 6:57am UTC](https://forum.universal-robots.com/t/set-tcp-of-robotiq-gripper/7498/1 "2020-06-01T06:57:43Z")
Hello, Is there a way to correctly set TCP to the end of the robotiq 2-pinger gripper? ---
**Author:** ![Savoia](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/savoia/32/4844_2.png) [@Savoia](https://forum.universal-robots.com/u/Savoia)\ **Post date:** [June 26, 2020, 4:19pm UTC](https://forum.universal-robots.com/t/set-tcp-of-robotiq-gripper/7498/2 "2020-06-26T16:19:35Z")
Yes, there is a way to do this. Robotiq might actually support this in their URCap automatically. I would ask this in the [https://dof.robotiq.com/](https://dof.robotiq.com/), because it is particular to the that Robotiq have designed their products. ---
**Author:** ![d.gariepy](https://avatars.discourse-cdn.com/v4/letter/d/7feea3/32.png) [@d.gariepy](https://forum.universal-robots.com/u/d.gariepy)\ **Post date:** [July 9, 2020, 12:55pm UTC](https://forum.universal-robots.com/t/set-tcp-of-robotiq-gripper/7498/3 "2020-07-09T12:55:17Z")
Hello Aofk, The TCP and center of mass are listed in the [instruction manual](https://assets.robotiq.com/website-assets/support_documents/document/2F-85_2F-140_UR_PDF_20200211.pdf?_ga=2.67344529.1871617256.1594125091-1746780766.1556133705) at section 5.2.3 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/c/ca1c4203c299160c55a56dabb8375a04b5a366f3.png) Best regards ---
**Author:** ![Savoia](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/savoia/32/4844_2.png) [@Savoia](https://forum.universal-robots.com/u/Savoia)\ **Post date:** [January 27, 2021, 12:24am UTC](https://forum.universal-robots.com/t/set-tcp-of-robotiq-gripper/7498/4 "2021-01-27T00:24:49Z")