Constructor.
The program to which the instruction has been assigned.
The entity that represents the TCP.
If the TCP entity has a RobotTCPComponent component, then the local offsets will be used to define the TCP frame.
Executes the instruction.
The robot controller on which the instruction is to be executed.
The future that is resolved once the instruction has been executed.
The label for the instruction, as it is to be displayed in the inspector.
The unit settings for the inspector.
The label.
Set Tool Center Point (TCP) instruction.
Remarks
Instructs the robot controller to set the specified TCP as the active TCP. This instruction can be used to switch to using a different TCP during the simulation, which can be helpful when the robot has multiple tools/end-effectors.