TCP calibration

why not pick point that is in center and flush with suction cups? this way you most likely only need to add distance from flange (tool Z). and if you would like to make Z pointing up so that Z+ lifts the robot tool regardless of used coordinate system, you can add rotations too (B 180).

so, perhaps if Z is 450mm your tool would be something like

tool_data[1]={X 0, Y 0, Z 450, A 0, B 180, C 0}

next you need to setup load for that tool

How to setup the centre of mass, and moment of inertia?

Please help.

Do you have something like Load data determination (LDD) package? You can check it in work visual.

Quote from sandeshbirla

How to setup the centre of mass, and moment of inertia?

Please help.

The LOAD_DATA array contains the mass/cg/inertia data for each tool, in parallel with TOOL_DATA.