Bulls eye

AravindSiva

Hi Everyone,
I have a few questions regarding Bullseye and TCP.

1. How to define Tool Center Point with Bull's eye in IRC5 controller?

2. DO we have to define somewhere how far the bull's eye is from the robot's base or does it automatically picks up when it passes through that beam?

I can't find answers to these questions. It would be much appreciated if explained with an example

Thanks in advance