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Coordinate Frame Visualizer

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

How to use this tool
Follow these steps if coordinate frames are new to you.
1

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.

2

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 — not the whole robot.

3

Try an example

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

4

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 — 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.

Step A — Translation

mm

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

0 mm
0 mm
0 mm

Step B — Rotation

degrees

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

0.0 °
0.0 °
0.0 °
Advanced readouts
For export to controller or kinematics tools.
mm
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 — check your controller manual for sign conventions.