Command: Set - Universal Robots UR3/CB3 User Manual

14.10 Command: Set

14.10 Command: Set
Sets either digital or analog outputs to a given value.
The command can also be used to set the payload of the robot arm. Adjusting the
payload weight can be necessary to prevent the robot from triggering a protective
stop, when the weight at the tool differs from the expected payload. As default the
active TCP is also used as the center of gravity. If the active TCP should not be used as
the center of gravity the checkbox can be unchecked.
The active TCP can also be modified using a Set command. Simply tick the check box
and select one of the TCP offsets from the menu. If the active TCP for a particular mo-
tion is known at the time of writing of the program, consider using the TCP selection
on the Move card instead (see 14.5). For further information about configuring named
TCPs, see 13.6.
Version 3.3.3 II-83 CB3