Universal Robots e Series User Manual page 181

16.1 General
Teaching TCP orientation
1. Tap the TCP Orientation Wizard.
2. Select a feature from the drop-down list. (See 16.3) for additional information on defining
new features
3. Tap Select point and use Move tool arrows to a position where the tool's orientation and the
corresponding TCP coincide with the selected features's coordinate system.
4. Verify the calculated TCP orientation and apply it to the selected TCP by tapping Set.
Payload
The weight of the robot's tool is specified in the lower part of the screen.To change this setting,
simply tap the white text field and enter a new weight. The setting applies to all defined TCPs. For
details about the maximum allowed payload, see the Hardware Installation Manual.
Payload Estimation
This feature allows the robot to help set the correct payload and Center of Gravity.
Using Payload Estimation Wizard
1. In the Installation Tab, under General, select TCP
2. On the TCP screen, under Payload and Center of Gravity, tap the Payload and Center of Gravity
Wizard.
3. In the Payload Estimation Wizard tap Next
4. Follow the steps to set the four positions.
Setting the four positions requires moving the robot arm into four different positions. Each po-
sition is measured. Individual measurements can be modified by tapping the center of gravity
fields and entering values.
Version 5.4 II-91 e-Series