The Tool Center Point (TCP) in RoboDK and in the controller must match. If you are using a gripper mechanism, it is required to add a TCP using “Add Tool (TCP)” that is at the expected position. The new tool TCP should match the gripper mechanism TCP. Information related to the Tool Center Point (TCP) of the Brooks PreciseFlex robots can be found by going to the Web Interface and following these steps:

1.Admin

2.Setup – Parameter Database

3.Robot

4.Joint/Cartesian control

5.Dynamic Parameters

6.DataID 16051