# MToolTCPCalib **URL:** \ **Category:** Robot Controller\ **Created:** [October 15, 2009, 8:03pm UTC](https://tech-community.robotics.abb.com/t/mtooltcpcalib/3112 "2009-10-15T20:03:24Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![RoboRob](https://avatars.discourse-cdn.com/v4/letter/r/4da419/32.png) [@RoboRob](https://tech-community.robotics.abb.com/u/RoboRob)\ **Post date:** [October 15, 2009, 8:03pm UTC](https://tech-community.robotics.abb.com/t/mtooltcpcalib/3112/1 "2009-10-15T20:03:24Z")
Does anyone know if it’s possible to TPWrite the max\_TCPerr,mean\_TCPerr to the flex pendant when using this command in a routine? ---
**Author:** ![system](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/system/32/6_2.png) [@system](https://tech-community.robotics.abb.com/u/system)\ **Post date:** [April 13, 2010, 12:42am UTC](https://tech-community.robotics.abb.com/t/mtooltcpcalib/3112/2 "2010-04-13T00:42:52Z")
Here is a routine I wrote that writes the max and mean error. MODULE TCP\_Aid(SYSMODULE) TASK PERS robtarget p1:=[[-616.395,-1682.85,1416.17],[0.220333,0.672182,0.231325,-0.667916],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; TASK PERS tooldata TCP\_Old:=[TRUE,[[365.401,-97.6168,246.953],[0.092296,0.701057,-0.092296,0.701057]],[34.7,[38.4,18,131.6],[1,0,0,0],1.086,1.348,1.362]]; TASK PERS tooldata TCP\_TCP:=[TRUE,[[365.401,-97.6168,246.953],[0.092296,0.701057,-0.092296,0.701057]],[34.7,[38.4,18,131.6],[1,0,0,0],1.086,1.348,1.362]]; TASK PERS wobjdata TCP\_Wobj:=[FALSE,TRUE,“”,[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]]; PERS jointtarget TCP\_Clr:=[[-93.3922,16.7899,25.8387,0.191803,65.699,-113.72],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; PERS jointtarget TCP\_j1:=[[-102.187,28.3068,21.9536,-0.170654,68.9885,-124.376],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; PERS jointtarget TCP\_j2:=[[-107.323,25.9101,51.1249,128.832,36.6304,-247.551],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; PERS jointtarget TCP\_j3:=[[-112.807,21.5585,28.9757,5.6044,53.7068,-176.337],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; PERS jointtarget TCP\_j4:=[[-105.805,24.2599,24.3025,46.9949,41.881,-126.237],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; PERS jointtarget TCP\_jZ:=[[-100.881,25.8255,23.0675,-0.144653,67.8854,-123.088],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; LOCAL PERS pos MyPos:=[0,0,0]; LOCAL VAR num max\_TCPerr:=1; LOCAL VAR num mean\_TCPerr:=1; LOCAL VAR num Xi:=0; LOCAL VAR num Yi:=0; LOCAL VAR num Zi:=0; LOCAL VAR bool inDebug:=TRUE; PROC ACALIB\_TCP() TPErase; GetEEInterface; TCP\_TCP:=EEtooldata; TCP\_TCP.tload:=EEtooldata.tload; TCP\_TCP:=TCP\_Old; TCP\_Wobj := Wobj0; MyPos := [0,0,0]; !.. clearance move MoveAbsJ TCP\_ClrNoEOffs, v200, z50, TCP\_TCPWObj:=TCP\_Wobj; !.. move to position-1 !.. and update position-1 MoveAbsJ TCP\_j1NoEOffs, v200, fine, TCP\_TCPWObj:=TCP\_Wobj; TPWrite “Move your TOOL to desired location . Press PLAY when ready.”; StopNoRegain; TPReadFK reg1, “Continue?”, stEmpty, stEmpty, stEmpty, stEmpty, “Yes”; TPErase; WaitTime 0.3; TCP\_j1:=CJointT(); MoveAbsJ TCP\_ClrNoEOffs, v200, z50, TCP\_TCPWObj:=TCP\_Wobj; !.. move to position-2 !.. and update position-2 MoveAbsJ TCP\_j2NoEOffs, v200, fine, TCP\_TCPWObj:=TCP\_Wobj; TPWrite “Move your TOOL to desired location . Press PLAY when ready.”; StopNoRegain; TPReadFK reg1, “Continue?”, stEmpty, stEmpty, stEmpty, stEmpty, “Yes”; TPErase; WaitTime 0.3; TCP\_j2:=CJointT(); MoveAbsJ TCP\_ClrNoEOffs, v200, z50, TCP\_TCPWObj:=TCP\_Wobj; !.. move to position-2 !.. and update position-3 MoveAbsJ TCP\_j3NoEOffs, v200, fine, TCP\_TCPWObj:=TCP\_Wobj; TPWrite “Move your TOOL to desired location . Press PLAY when ready.”; StopNoRegain; TPReadFK reg1, “Continue?”, stEmpty, stEmpty, stEmpty, stEmpty, “Yes”; TPErase; WaitTime 0.3; TCP\_j3:=CJointT(); MoveAbsJ TCP\_ClrNoEOffs, v200, z50, TCP\_TCPWObj:=TCP\_Wobj; !.. move to position-2 !.. and update position-4 MoveAbsJ TCP\_j4NoEOffs, v200, fine, TCP\_TCPWObj:=TCP\_Wobj; TPWrite “Move your TOOL to desired location . Press PLAY when ready.”; StopNoRegain; TPReadFK reg1, “Continue?”, stEmpty, stEmpty, stEmpty, stEmpty, “Yes”; TPErase; WaitTime 0.3; TCP\_j4:=CJointT(); MoveAbsJ TCP\_ClrNoEOffs, v200, z50, TCP\_TCPWObj:=TCP\_Wobj; !.. refine Z-Elongator and X-Elongator jointtargets for TCP orientation !.. and update position-5 p1:=CalcRobT(TCP\_j1, TCP\_TCPWObj:=TCP\_Wobj); MoveL RelTool(p1,0,0,-50), v200, fine,TCP\_TCPWObj:=TCP\_Wobj; TCP\_jz:=CJointT(); MoveAbsJ TCP\_jzNoEOffs, v200, z50, TCP\_TCPWObj:=TCP\_Wobj; !.. Define the TCP\_TCP as the 4-point calibrated position !.. Define the Z-Elongator of TCP\_TCP between TCP\_j1 and TCP\_jZ !MToolRotCalib TCP\_j1, TCP\_jZ, TCP\_TCP; MToolTCPCalib TCP\_j1,TCP\_j2,TCP\_j3,TCP\_j4,TCP\_TCP,max\_TCPerr,mean\_TCPerr; IF inDebug THEN TPErase; tpwrite “–[TCP DEFINITION..]----------”; Xi:=TCP\_TCP.tframe.trans.x; Yi:=TCP\_TCP.tframe.trans.y; Zi:=TCP\_TCP.tframe.trans.z; tpwrite "Transl := "Pos:=[Xi,Yi,Zi]; Xi:=EulerZYX(X,TCP\_TCP.tframe.rot); Yi:=EulerZYX(Y,TCP\_TCP.tframe.rot); Zi:=EulerZYX(,TCP\_TCP.tframe.rot); tpwrite "Rotatn := "Pos:=[Xi,Yi,Zi]; tpwrite “--------------------------------”; Tpwrite "TCP Max Error = "Num:=max\_TCPerr; Tpwrite "TCP Mean Error = "Num:=mean\_TCPerr; ELSE TPErase; Xi:=EulerZYX(X,TCP\_TCP.tframe.rot); Yi:=EulerZYX(Y,TCP\_TCP.tframe.rot); Zi:=EulerZYX(,TCP\_TCP.tframe.rot); ENDIF IF max\_TCPerr \> .8 THEN TpWrite “Put on your glasses on and try again”; ELSE IF ActiveEEconfig.EEtooldataname = “CIH1tool” THEN CIH1tool.tframe:=TCP\_TCP.tframe; CIH1tool.tload:=TCP\_TCP.tload; ENDIF ENDIF !.. clearance move MoveAbsJ TCP\_ClrNoEOffs, v500, z50, TCP\_TCPWObj:=TCP\_Wobj; Park; ENDPROC ENDMODULE