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Tools
Local TCP Offset

Local TCP Offset

1Current TCP Pose in Base

TCP X (mm)

TCP Y (mm)

TCP Z (mm)

TCP Orientation Format

TCP Roll (°)

TCP Pitch (°)

TCP Yaw (°)

R = Rz(Yaw) · Ry(Pitch) · Rx(Roll), right-handed, fixed XYZ axes.

2Offset in the TCP's Own Frame

Offset X (mm)

Offset Y (mm)

Offset Z (mm)

Offset Orientation Format

Offset Roll (°)

Offset Pitch (°)

Offset Yaw (°)

R = Rz(Yaw) · Ry(Pitch) · Rx(Roll), right-handed, fixed XYZ axes.

The offset uses the current TCP axes. Rotation and translation form a local transform, rather than direct additions along the Base axes.

Offset TCP Pose (Base)

Quantity	Result	Unit
X	500	mm
Y	300	mm
Z	300	mm
Roll	0	°
Pitch	0	°
Yaw	90	°

T_base_new = T_base_tcp × T_tcp_offset. This tool composes poses and does not replace TCP calibration.

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Tools
Local TCP Offset

Local TCP Offset

1Current TCP Pose in Base

TCP X (mm)

TCP Y (mm)

TCP Z (mm)

TCP Orientation Format

TCP Roll (°)

TCP Pitch (°)

TCP Yaw (°)

R = Rz(Yaw) · Ry(Pitch) · Rx(Roll), right-handed, fixed XYZ axes.

2Offset in the TCP's Own Frame

Offset X (mm)

Offset Y (mm)

Offset Z (mm)

Offset Orientation Format

Offset Roll (°)

Offset Pitch (°)

Offset Yaw (°)

R = Rz(Yaw) · Ry(Pitch) · Rx(Roll), right-handed, fixed XYZ axes.

The offset uses the current TCP axes. Rotation and translation form a local transform, rather than direct additions along the Base axes.

Offset TCP Pose (Base)

Quantity	Result	Unit
X	500	mm
Y	300	mm
Z	300	mm
Roll	0	°
Pitch	0	°
Yaw	90	°

T_base_new = T_base_tcp × T_tcp_offset. This tool composes poses and does not replace TCP calibration.

Local TCP Offset

Orientation Conventions and References

Local TCP Offset

Orientation Conventions and References