Regular Tcp Toolpath Moves - Universal Robots e-Series Original Instructions Manual

7. Program Tab
1. Access the Program Tab and tap URCaps.
2. Select Remote TCP Move to insert an RTCP_MoveP node.
3. Select a TCP and set the motion parameters: tool speed, tool acceleration and blend radius.
4. Tap +Toolpath to insert an RTCPToolpath node. Delete the RTCPWaypoint node that was
created by default, if it is not needed.
5. Select a toolpath file and the corresponding Remote TCP PCS fromthe drop-down menus.
6. Adjust the motion parameters if different values are to be applied to the RTCPToolpath node.
7. Tap Move to First Point to verify the grasped part approaches the Remote TCP as expected.
8. Test the program in the simulation mode at a low speed to confirm the configurations.
NOTE
You can ensure the robot motion is identical, each time the toolpath is executed, by
adding a MoveJ with a Use Joint Angles set to move to a fixed joint configuration
before executing the toolpath. See

7.14.7. Regular TCP Toolpath Moves

Similar to configuring a Remote TCP Toolpath Move, a regular TCP Toolpath Move requires the
following:
• Toolpath file
• Regular TCP
• Plane Feature as a PCS
Configuring and Importing a Toolpath File
This is similar to configuring a Toolpath (see
page 115) and importing Toolpath (see
Software Manual
7.11.1. Move on page 70
Configuring a Toolpath using CAD/CAM Software on
Importing a G-code Toolpath into PolyScope on
119
page 115).
e-Series