Tool Direction - Universal Robots UR5e User Manual

Position to change the position of the tool with respect to the tool flange of the robot. The
position is considered for the safety functions for tool speed, tool force, stopping distance
and safety planes.
You can use an existing Tool Center Point as a base for defining new tool positions. A copy of
the existing TCP, predefined in General menu, in TCP screen, can be accessed in Tool Position
menu, in Copy TCP drop-down list.
When you edit or adjust the values in the Edit Position input fields, the name of the TCP visible in
the drop down menu changes to custom, indicating that there is a difference between the copied
TCP and the actual limit input. The original TCP is still available in the drop down list and can be
selected again to change the values back to the original position. The selection in the copy TCP
drop down menu does not affect the tool name.
Once you apply your Tool Position screen changes, if you try to modify the copied TCP in the TCP
configuration screen, a warning icon appears to the right of the Copy TCP text. This indicates
that the TCP is out of sync i.e. the information in the properties field is not updated to reflect
modifications that may have been made to the TCP. The TCP can be synced by pressing the sync
icon (see 17.1.1).
Note: the TCP does not have to be synced in order to define and use a tool successfully.
You can rename the tool by pressing the pencil tab next to the displayed tool name. You can
also determine the Radius with an allowed range of 0-300 mm. The limit appears in the graphics
pane as either a point or a sphere depending on radius size.

13.2.7 Tool Direction

The Tool Direction screen can be used to restrict the angle in which the tool is pointing. The limit
is defined by a cone that has a fixed orientation with respect to the robot arm Base. As the robot
arm moves around, tool direction is restricted so it remains within the defined cone. The default
direction of the tool coincides with the Z-axis of the tool output flange. It can be customized by
specifying tilt and pan angles.
Before configuring the limit, you must define a point or plane in the robot installation (see 17.3).
The feature can then be copied and its Z axis used as the center of the cone defining the limit.
CB5 II-24
13.2 Safety Menu Settings
Version 5.0.2