What is RTCP in movement command?

The remote tool center point is not held by the robot. It is useful for one example, with a pedestal spot welder. It is particularly useful (in fact, a must) for dispensing with a non held sealer tip.

RTCP cannot be used with joint motion and wrist joint motion.

If a RTCP have been set/taught and the statement is added to a motion command, the robot moves to this point relative to the RTCP (which is basically a fixed/stationary TCP).

Quote from Dzonzi

Yeah I already know that Im doing a dispenser application right now with remote TCP. I figured out that every L movement has to have an RTCP parameter to be in the right position. But J movement doesn't have this parameter.

If I set RTCP position is taught between RTCP and TCP? And what if I dont set this?

Strange things happen to me ;/

I just wanted to cut and paste taught positions a few moves later and after paste, the points have changed their positions. Wtf?

I have a RTCP as a user frame. Is this correct?

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Yes, a RTCP is set like a user frame via Menu > Setup > Frames > User/RTCP.

Try this if you have not yet. Reorient the workpiece using the RTCP, then try using the EOAT tcp. It is a nightmare! Also, the robot will know to calculate the speed of the workpiece past the tip, not the EOAT tcp, which could be vastly different.

If you have an application like grinding or polishing where robot is holding the workpiece and the grinding wheel of surface is fixed and you need to create the path with CAD-to-Path then RTCP is used.