Universal Robots E Series Original Instructions Manual page 213

23. Program Tab
Configuring a Remote TCP PCS
Use this method if the PCS can be set on the part surface.
1. Use freedrive to manually grasp the part with the gripper.
2. Select a Remote TCP to teach the reference points. For high accuracy, temporarily
set up a sharp Remote TCP to complete this teaching process.
3. Jog the robot for the Remote TCP to touch the origin, positive X-axis and the
positive Y-axis direction of the PCS on the part.
4. Tap Set to conclude the teaching process. The position and orientation values are
populated automatically.
Otherwise, use this method.
1. Select three or four reference points on the part surface.
2. In the CAD/CAM software, record the X, Y, Z coordinates, relative to the PCS of the
selected reference points.
3. Use freedrive to to manually grasp the part with the gripper.
4. Select a Remote TCP to teach the reference points. For high accuracy, temporarily
set up a sharp Remote TCP to complete this teaching process.
5. Enter the coordinates for the first reference point.
6. Jog the robot for the Remote TCP to touch the first reference point on the part.
7. Repeat steps five and six for the other reference points.
User Manual 199 UR5e