Adding A Tool; Setting Tcp And Tool Properties - Universal Robots ActiNav Operating Manual

3.2.1. Adding a Tool

To add a Tool to the installation:
1. Insert a USB flash drive with the CAD model of the tool into the Teach Pendant.
2. In PolyScope, select Installation > URCaps > ActNav Bin Picking > Tool.
3. In the Manage tab, tap New Tool.
4. In the Import File dialog, tap Browse.
5. Navigate to Media, select the Tool model file, and tap Open.
6. PolyScope imports the CAD model and shows the Properties tab.
Now you can define the TCP and the Tool properties.

3.2.2. Setting TCP and Tool Properties

In the Properties tab, you configure the TCP, the Tool payload, and the Tool center of gravity.
TCP
The Tool Center Point section contains the TCP coordinates and orientation relative to the robot tool
flange.
Tap Copy values from to copy the TCP values from one of the TCPs configured in the current
installation.
To teach TCP values for the Tool using PolyScope, use the TCP Position Wizard in PolyScope in
Installation > General > TCP.
ActiNav Autonomous Bin Picking 6
3. Procedures
Operating Guide