OnRobot VGC10 User Manual page 38

Installation
Overwrite values
Automatic overwrite of the robot TCP configuration: when checked, the UR's TCP configuration is
automatically overwritten (Dynamic TCP mode). When unchecked the TCP is left unchanged (Static
TCP mode).
For further information and best practices on the TCP setting see TCP Configuration section.
TCP offset
Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot
device dependent calculated TCP.
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