OnRobot VGC10 User Manual page 114

Operation
How "far" the TCP needs to be moved to be at the "end" of the OnRobot tools could be found in the Center
of Gravity section.
Since, it could be hard to enter these values by hand, OnRobot provides two ways to get these parameters
configured for you:
• Static TCP mode - Recommended to be used
• Dynamic TCP mode
The mode could be selected on the TCP panel in the OnRobot Installation (see in the URCap setup section).
In the following these two modes will be described.
Static TCP mode
In this mode the user can manually change the Active TCP based on the predefined OnRobot TCP options:
• OnRobot_Single
If no Dual Quick Changer is detected, so only
one tool is used.
• OnRobot_Dual_1 and OnRobot_Dual_2
If a Dual Quick Changer is detected, so two
tools are used.
The TCP values are created and precalculated based on the detected tool(s). So if the RG2 is
mounted in 30° (with the built-in tilting mechanism) the precise TCP is defined accordingly.
The calculation is only carried out when a new device is detected or when the mounting angle is
changed (only for RG2/6 and RG2-FT).
The calculated values are static parameters and do not change during program execution.
If a tool is attached to the robot, it makes easier for the user to change that point
to the tool's "end" point (see illustration on the left).
In this way it is easy to rotate the tool while the
workpiece is being stationary in space (see illustration
on the right).
More than one TCP point could be defined but at a
given time only one TCP can be active. In UR, it is called
the Active TCP.
By default, UR's Move commands are always recording
the Waypoints according to the Active TCP.
For further info about the UR's TCP handling read the UR's Manual.
NOTE:
OnRobot_Dual_1 belongs to the tool that is attached to the Primary side
of the Dual Quick Changer.
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