Adding, Renaming, Modifying And Removing Tcps; Teaching Tcp Position - Universal Robots E Series Original Instructions Manual

24.2.3. Adding, Renaming, Modifying and Removing TCPs

You can start configuring a new TCP with the following actions:
• Tap the
to define a new TCP with a unique name. The new TCP is available in the
dropdown menu.
• Tap the
to rename a TCP.
• Tap the
to remove a selected TCP. You cannot remove the last TCP.
Active TCP
When moving linearly, the robot always uses the active TCP to determine the TCP offset. The
active TCP can be changed using a Move command
command. The motion of the active TCP is visualised on the Graphics Tab
Tab on page 150).
Default TCP
The Default TCP must be set as the active TCP before running a program.
• Select the desired TCP and tap Set as default to set a TCP as the default.
The green icon in the available drop-down menu indicates the default configured TCP.

24.2.4. Teaching TCP position

TCP position coordinates can be calculated automatically as follows:
UR5e
(see 23.11.1. Move on
206
24. Installation Tab
page 152) or a Set
(see 23.9. Graphics
User Manual