Why do we have to define EXTCP to be true or false in inline form

    Hi people,
    Does anyone know how the concept of EXTCP works? From what I understand, EXTCP acts like base and the kuka robots .dat file has the data for the robots actual TCP in the EXTCP's frame.
    Why is it that we have to define whether the EXTCP is false or true in the inline form when it should just consider it as any other base?

    It's for clarifing which is the object and which is the reference.

    KUKA Conntroller : _________<br />KSS Software : ____________ <br />Robot Model: _____________

    Can you explain further?
    ALso, how id the IP_MODE impacted with this? What is the difference b/w a base vs tcp interpolation on a kuka robot?

    both coordinate systems are FRAMEs (have origin and orientation).
    One of them is reference. This is specified either in inline form or directly by setting $IPO_MODE variable.
    Difference becomes more obvious when one uses rotation (jog A,B,C).

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Thanks for the clarification. I get the reference and object part now. But how does that change the trajectory or motion profile. Also, what would have happened if, the reference was EXTCP and the TCP was still the object

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