Tcp Configuration; Adding, Renaming, Modifying And Removing Tcps - Universal Robots UR3/CB3 Original Instructions Manual

13.6 Installation TCP Configuration
13.6 Installation
A Tool Center Point (TCP) is a point on the robot's tool. The TCP is defined and named in the
Installation Tab Setup for the Tool Center Point screen (shown above). Each TCP contains a trans-
lation and a rotation relative to the center of the tool output flange.
When programmed to return to a previously stored waypoint, a robot moves the TCP to the po-
sition and orientation saved within the waypoint. When programmed for linear motion, the TCP
moves linearly.
The X, Y and Z coordinates specify the TCP position, while theRX, RY and RZ coordinates specify
its orientation. When all values are zero, the TCP coincides with the center point of the tool output
flange and adopts the coordinate system depicted on the screen.

13.6.1 Adding, renaming, modifying and removing TCPs

To define a new TCP, tap the New button. The created TCP automatically receives a unique name
and becomes selectable in the drop-down menu. To rename a TCP, tap the Rename button. To
remove the selected TCP, tap the Remove button. The last TCP cannot be removed.
Version 3.10
CAUTION:
Using the robot with an installation loaded from a USB drive is not
recommended. To use an installation stored on a USB drive, first load
it and then save it in the local programs folder using the Save As. . .
button.
TCP Configuration
II-43 CB3