Universal Robots e Series User Manual page 175

15.8 URCaps
• Teach RTCP position
• Teach RTCP orientation
The difference between teaching a RTCP orientation from a Regular TCP orientation is that there is
no need to select a Feature.
15.8.2 Setting the RTCP from a Feature
Define a RTCP using a Feature to allow the robot to be jogged relative to the RTCP while creating
RTCP Waypoints and Circle Moves.
1. Create a new RTCP by tapping the plus icon or select an existing RTCP in the drop-down menu.
2. Select the Feature in the Copy values from a point feature drop-down menu to copy the values.
3. Verify the RTCP position and orientation values update to match that of the selected Feature.
15.8.3 Remote TCP Move Command
The RTCP_MoveP command controls the robot motion through underlying waypoints and circle
moves relative to the Remote TCP. RTCP Waypoints and Circle Moves must be under an RTCP_MoveP
command and generated by tapping the +Waypoint or +CircleMove buttons on the RTCP_MoveP
command page.
The RTCP_MoveP command defines the tool speed and acceleration the Robot Arm moves relative
to the Remote TCP. The Move command defines the blend radius which the robot moves relative to
the RTCP.
15.8.4 RTCP Move Types
RTCP Waypoint
moves the tool linearly with constant speed and circular blends. The size of the blend radius is, by
default, a shared value between all the waypoints. A smaller value makes the path turn sharper,
whereas a higher value makes the path smoother. While the Robot Arm is moving through the
waypoints with constant speed relative to the RTCP, the Control Box cannot wait for either an I/O
operation or an operator action. Doing so might stop the Robot Arm's motion or cause a protective
stop.
RTCP Circle move
can be added to an RTCP_MoveP to make a circular movement. The robot starts the movement
from its current position or start point, moves through a ViaPoint specified on the circular arc, and
an EndPoint that completes the circular movement. Use either a Fixed or Unconstrained Mode to
calculate the remote tool orientation through the circular arc.
• Fixed Mode: only the starting point is used to define the tool orientation.
• Unconstrained Mode: the starting point transforms to the EndPoint to define the tool orienta-
tion.
Version 5.4 II-85 e-Series