Which frame am I adjusting?

This tool shows the tool frame relative to the flange. The base/world frame stays fixed at the robot pedestal.

What rotation convention is this?

Offsets are shown as Euler rotations about X, Y, and Z (RX, RY, RZ) applied with the tool translation. Vendor pendants may use ZYX, fixed vs intrinsic order, or quaternions — match the brand’s convention before copying numbers.

Can I use this instead of a 4-point TCP teach?

No. It is for understanding and sanity-checking a known offset. Teach the TCP on the controller for production; use this to visualize why a 90° RZ flips the tool X axis.

What should I do next?

Once the tool frame makes sense, open Robot Reach Planner to check whether the work point still sits inside the arm envelope after the TCP offset.

Robotics

Coordinate Frame Visualizer

See where your tool tip (TCP) sits relative to the robot flange ÔÇö with a 3D arm and guided examples.

Robotics workflowStep 1 of 2

1TCP frame
Reach

Next workflow step

Continue to Robot Reach Planner — Continue the guided sequence with your current context.

Continue

How to use this tool

Follow these steps if coordinate frames are new to you.

What is TCP?

TCP (Tool Center Point) is where the robot thinks your tool tip is. You teach this offset once when mounting a gripper or welder.

What am I looking at?

The gray arm ends at the flange. The cyan dot is the TCP. Sliders move/rotate the TCP relative to the flange ÔÇö not the whole robot.

Try an example

Click "Start here" below, then "Move forward (X)". Watch the yellow dashed line ÔÇö that is your tool offset.

Adjust manually

Use Translation sliders for position (mm), Rotation sliders for tilt (┬░). Red/green/blue arrows show X/Y/Z directions.

Try an example

Click a preset ÔÇö the 3D view updates immediately.

TCP sits exactly on the flange — no offset yet.

Live summary

TCP is aligned with the flange — no offset.

Loading 3D view…

TCP offset values

These numbers define where the tool tip is, relative to the flange.

Rotation order

Show yellow offset line (flange ÔåÆ TCP)

Step A ÔÇö Translation

How far the tool tip is from the flange, along each axis.

0 mm

Step B ÔÇö Rotation

degrees

How the tool is tilted. The TCP axis arrows rotate with the tool.

0.0 ┬░

Advanced readouts

For export to controller or kinematics tools.

Offset distance

Quaternion W

Quaternion X

Quaternion Y

Quaternion Z

Tip: This tool visualizes the same numbers you enter in FANUC, KUKA, ABB, or UR tool setup screens. Exact axis directions can vary by robot brand ÔÇö check your controller manual for sign conventions.

Learn about this tool

What it is, when to use it, formulas, and common questions

What is this?

Visualizes the Tool Center Point (TCP) offset relative to the robot flange — translation and rotation in 3D.

When do engineers use it?

Use when teaching tool frames, debugging coordinate offsets, or learning before configuring RobotStudio or teach pendant.

Formula

TCP pose = flange pose × tool offset (homogeneous transform)

Example

A gripper 150 mm forward in X with 90° RZ rotation shifts where the robot thinks the tool tip is.

FAQ

Which frame am I adjusting?: This tool shows the tool frame relative to the flange. The base/world frame stays fixed at the robot pedestal.
What rotation convention is this?: Offsets are shown as Euler rotations about X, Y, and Z (RX, RY, RZ) applied with the tool translation. Vendor pendants may use ZYX, fixed vs intrinsic order, or quaternions — match the brand’s convention before copying numbers.
Can I use this instead of a 4-point TCP teach?: No. It is for understanding and sanity-checking a known offset. Teach the TCP on the controller for production; use this to visualize why a 90° RZ flips the tool X axis.
What should I do next?: Once the tool frame makes sense, open Robot Reach Planner to check whether the work point still sits inside the arm envelope after the TCP offset.