Universal Robots E Series Original Instructions Manual page 216

Configuring a Regular TCP
• Follow the instructions in
Regular TCP.
• Verify the positive Z-axis of the tool points away from the part surface.
Configuring a Plane Feature PCS
1. Create a plane feature by Adding a plane or Teaching a plane. See
Feature on
2. Fix the part relative to the robot base.
3. Verify the correct TCP is us to create the plane feature. For high accuracy,
temporarily set up a sharp Remote TCP to complete this teaching process.
4. 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.
5. Finish the teaching process and confirm the PCS position and orientation.
Configuring a Toolpath Node
1. Access the Program Tab and tap URCaps.
2. Select a TCP and set the motion parameters: tool speed, tool acceleration and
blend radius. Select Spin tool freely around its Z-axis. Do not select if the tool must
follow the orientation around Z-axis defined in the toolpath file.
3. Tap +Toolpath to insert a Toolpath node.
4. In the drop-down menu, select a toolpath file and the corresponding PCS (Plane
Feature).
5. Adjust the motion parameters if different values are to be applied to the Toolpath
node.
UR5e
24.2. TCP Configuration on page 205
page 227.
202
23. Program Tab
to configure a
24.17.5. Plane
User Manual