Tcp Configuration - OnRobot HEX-E QC User Manual

OPERATION
for secondary
tool_index=2

6.4. TCP Configuration

TCP is the abbreviation of the Tool Center Point.
How "far" the TCP needs to be moved to be at the "end" of the OnRobot tools could be found
in the 8.3. COG, TCP
Since, it could be hard to enter these values by hand, OnRobot provides two ways to get
these parameters configured for you:
Static TCP mode - Recommended to be used
•
Dynamic TCP mode
•
The mode could be selected on the TCP panel in the OnRobot Installation (see in the
URCap Setup setup section).
In the following these two modes will be described.
Static TCP Mode
In this mode the user can manually change the Active TCP based on the predefined OnRobot
TCP options:
TCP is a point that is in the beginning (by default) located at the
middle point of the UR's tool flange. This is an important point
during robot programming since UR's Move commands are
always referenced to a given TCP point and rotations could only
be carried out about these points.
If a tool is attached to the robot, it makes easier for the
user to change that point to the tool's "end" point (see
illustration on the left).
In this way it is easy to rotate the tool while the
workpiece is being stationary in space (see illustration
on the right).
More than one TCP point could be defined but at a
given time only one TCP can be active. In UR, it is called
the Active TCP.
By default, UR's Move commands are always recording
the Waypoints according to the Active TCP.
For further info about the UR's TCP handling read the
UR's Manual.
section.
5.3.
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