Tcp; Urcap Toolbar - OnRobot UR CB3 Series User Manual

OPERATION
Robot Pose: Coordinate and rotation values for the waypoint.
Set via Tool button: This checkbox allows the command to automatically get the Robot Pose
values when pressing the tool button. In this case, the LED of the Tool button turns to steady
green.

6.1.1.7. TCP

The command is used to set the current TCP and/or payload for the robot.
TCP
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.
Payload
Modify Tool payload: If enabled the UR's payload will be overwritten.
enter the workpiece mass that is attached to the device. The device own mass is added
automatically.
Use TCP offset for CoG: set the center of gravity of the workpiece at the active TCP position.
Center of gravity CX, CY, CZ: set the location of the center of gravity of the workpiece.

6.2. URCap Toolbar

The Toolbar makes it simple to operate the tools while you are programming or during
runtime.
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