OnRobot UR CB3 Series User Manual page 38

OPERATION
If two OnRobot devices are used, select OnRobot_Dual_1 or OnRobot_Dual_2 accordingly.
If not the UR's Move command but the OnRobot
or RG2-FT only):
Use the OnRobot TCP command just before the
•
right value
As summary here is a code example:
Single
Not mandatory to set OnRobot TCP as Default
TCP
Robot program
MoveJ (Set TCP = OnRobot_Single)
#Alternatively
TCP
F/T Move
38
command is used (for HEX-E/H QC
F/T Move
to set the Active TCP to the
F/T Move
Dual
Not mandatory to set OnRobot TCP as Default
TCP
Robot program
MoveJ (Set TCP = OnRobot_Dual_1)
MoveJ (Set TCP = OnRobot_Dual_2)