OnRobot UR CB3 Series User Manual page 31

OPERATION
If the Set part TCP checkbox is checked the TCP will be set at the further end of the part. It
requires the following two parameters to be given:
Part length (L): the distance between the center point of the fingertip sensors and the center
point of the item to be inserted.
Part angle (α): the angle between the +Y axis of the fingertip sensor and the insertion
direction of the item to be inserted.
Pushing force: the pushing force can be selected:
sets the pushing force to be 3N.
sets the pushing force to be 6N.
sets the pushing force to be 12N.
Min depth: The minimum distance required to consider the insertion successful, from the
starting point.
Max depth: The maximum distance the insertion can reach, from the starting point.
Show advanced options checkbox: If checked, more options become available:
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