Universal Robots UR5e User Manual page 154

tap Set as default.
A TCP offset is designated as active to determine all linear motions in Cartesian coordinate
system space. The motion of the active TCP is visualized on the Graphics Tab (see 16.3).
Before a program runs, the default TCP is set as the active TCP. Within a program, any of the
specified TCPs can be set as active for a particular movement of the robot (see 16.5.1 and
16.5.3).
Teaching TCP position
TCP position coordinates can be calculated automatically as follows:
1. Tap Position.
2. Choose a fixed point in the workspace of the robot.
3. Use the position arrows on the right side of the screen to move the TCP from at least three
different angles and to save the corresponding positions of the tool output flange.
4. Use the Set button to apply the verified coordinates to the appropriate TCP. The positions
must be sufficiently diverse for the calculation to work correctly. If they are not sufficiently
diverse, the status LED above the buttons turns red.
Though three positions are sufficient to determine the TCP, a fourth position can be used to
further verify the calculation is correct. The quality of each saved point, with respect to the
calculated TCP, is indicated using a green, yellow, or red LED on the corresponding button.
CB5 II-70
17.1 General
Version 5.0.2