OnRobot HEX-E QC User Manual page 50

SW INSTALLATION
Automatic overwrite of the robot TCP configuration: when checked, the UR's TCP
configuration is automatically overwritten (Dynamic TCP mode). When unchecked the TCP
is left unchanged (Static TCP mode).
For further information and best practices on the TCP setting see
section.
TCP offset
Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the
OnRobot device dependent calculated TCP.
Mounting
In the normal view of the panel, the selected mounting angle is shown. To set the mounting
angle press on .
If only one gripper is mounted, follow the steps bellow. If there are 2 grippers, follow the steps
half a page below.
1. Make sure you are looking at the cable from the same side as it is shown on the picture
.
2. Select the angle the gripper is mounted with (positive angle towards the Quick Changer
release button
If two grippers are mounted, follow the steps bellow:
50
).
6.4. TCP Configuration