OnRobot VGC10 User Manual page 99

Operation
TCP
The TCP command is used to set the current TCP and/or payload for the robot.
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.
Payload
Modify Tool payload: If enabled the UR's payload will be overwritten.
Mass: enter the workpiece mass that is attached to the device. The device own mass is added
automatically.
Use TCP offset for CoG: set the center of gravity of the workpiece at the active TCP position.
Center of Gravity CX, CY, CZ: set the location of the center of gravity of the workpiece.
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