Command: Set - Universal Robots UR3/CB3 Original Instructions Manual

14.12 Command: Set

Sets either digital or analog outputs to a given value. Digital outputs can also be set to send a single
pulse.
Use the Set command to set the payload of the Robot Arm. You can adjust the payload weight to
prevent the robot from triggering a protective stop, when the weight at the tool differs from the
expected payload. If the active TCP should not be used as the center of gravity the checkbox must
be unchecked.
The active TCP can also be modified using a Set command, by selecting the check box and choosing
one of the TCP offsets from the menu.
If the active TCP for a particular motion is known at the time of writing of the program, consider
using the TCP selection on the Move card instead (see 14.5). For further information about
configuring named TCPs (see 13.6).
CB3 II-88
14.12 Command: Set
Version 3.10