Installation Tcp Configuration; Adding, Renaming, Modifying And Removing Tcps - Universal Robots UR5/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. Each TCP contains a translation 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
position and orientation saved within the waypoint. When programmed for linear motion, the
TCP moves linearly.
Position
The X, Y, Z coordinates specify the TCP position. When all values (including orientation) are
zero, the TCP coincides with the center point of the tool output flange and adopts the coordinate
system depicted on the screen.
Orientation
The RX, RY, RZ coordinate boxes specify the TCP orientation. Similar to the Move Tab, use the
Units drop down menu above the RX, RY, RZ boxes to select the orientation coordinates (see
12.2).

13.6.1 Adding, renaming, modifying and removing TCPs

Tap the New button to define a new TCP. 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.
The translation and rotation of a selected TCP can be modified by entering new values into the
fields.
Version 3.11
TCP Configuration
II-41 e-Series