Tool Position - Universal Robots UR5e User Manual

When the robot TCP is no longer in proximity of the limit, the 3D representation disappears. If
the TCP is in violation or very close to violating a boundary limit, the visualization of the limit
turns red.
Feature
In the top left corner of the Robot field, under Feature, you can define how to control the robot
arm relative to View, Base or Tool features.
Note: For the best feel for controlling the robot arm you can select the View feature, then use
Rotate arrows to change the viewing angle of the 3D image to match your view of the real robot
arm.
Active TCP
In the to right corner of the Robot field, under Active TCP, the name of the current active Tool
Center Point (TCP) is displayed.

18.3 Tool Position

The text boxes display the full coordinate values of the TCP relative to the selected feature.
Note: You can configure several named TCPs (see 17.1.1). You can also tap Edit pose to
access the Pose Editor screen.
18.3.1 Pose Editor Screen
On this screen you can specify target joint positions, or a target pose (position and orientation)
of the robot tool. This screen is "offline" and does not control the robot arm directly.
18.3.1.1 Robot
The current position of the robot arm and the specified new target position are shown in 3D
graphics. The 3D drawing of the robot arm shows the current position of the robot arm, and the
CB5 II-90
18.3 Tool Position
Version 5.0.2