---
title: TCP Configuration
description: "The **Tool Center Point (TCP)** defines the exact position and orientation of the welding torch tip relative to the robot's tool flange. An accurate TCP is essential for correct motion and weld positioning. The [onboarding wizard](/docs/getting-started-first-time-setup/)'s **Tool Center Point** step…"
url: "https://hub.smooth-robotics.com/docs/getting-started-tcp-configuration/"
updated: "2026-09-23"
category: Getting Started
---

# TCP Configuration

The **Tool Center Point (TCP)** defines the exact position and orientation of the welding torch tip relative to the robot's tool flange. An accurate TCP is essential for correct motion and weld positioning. The [onboarding wizard](/docs/getting-started-first-time-setup/)'s **Tool Center Point** step sets this up; you can also configure it directly in PolyScope's **End Effectors** page. As these are standard Universal Robots PolyScope X screens, always refer to Universal Robots' own user manual for the most up-to-date and complete instructions.

## Add or edit a TCP

1. From the **Application** view, tap **End Effectors**.

 ![Application page — End Effectors tile](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-tcp-configuration-tcp-application-tile.webp)

1. The end effectors are listed on the left. A fresh installation has only the default **Robot** with its **Tool_flange**. Tap **Add End Effector** to create a tool for your torch.

 ![End Effectors — Add End Effector](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-tcp-configuration-tcp-end-effectors.webp)

1. The new tool is added and automatically selected, together with a TCP.

Warning

SmoothTool X looks for an end effector named exactly **Custom** with a TCP named **Custom_TCP** — this is what its onboarding wizard creates. PolyScope names the new end effector `End_effector_1` and its TCP `TCP_1`, so **rename both**: use each item's **⋮** menu → **Rename** to set **Custom** and **Custom_TCP**. If the names don't match, SmoothTool X's Settings screens won't recognize your tool and will create a separate **Custom** end effector.

1. Select **Custom_TCP** and enter its pose relative to the tool flange:

   - **Position** — the **X**, **Y** and **Z** offset of the torch tip, in millimetres.
   - **Orientation** — the **RX**, **RY** and **RZ** rotation of the tool.

   You can enter the values directly if you know them from the torch datasheet, or teach them by jogging the robot.

 ![End Effectors — Custom_TCP selected, pose fields](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-tcp-configuration-tcp-pose.webp)

1. Make it the **active** TCP so programs use it: open the **Custom_TCP** **⋮** menu and tap **Set as active**.

 ![Custom_TCP ⋮ menu — Set as active](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-tcp-configuration-tcp-set-active.webp)

### Teach the TCP with the wizard

If you don't know the exact offsets, use the **teach wizard** provided by Universal Robots instead of typing values:

- **Position** — the wizard has you jog the torch tip to the *same physical point* from **four different approach angles**. From those poses it calculates the X/Y/Z offset of the tip.
- **Orientation** — a further step lets you jog the robot to define the tool's direction (for example, aligning the torch angle), from which it calculates the RX/RY/RZ orientation.