Universal Robots e-Series Original Instructions Manual page 120

Configuring a Regular TCP
• Follow the instructions in
• Verify the positive Z-axis of the tool points away from the part surface.
Configuring a Plane Feature PCS
1. Create a plane feature by Adding a plane or Teaching a plane. See
page 145.
2. Fix the part relative to the robot base.
3. Verify the correct TCP is us to create the plane feature. For high accuracy, temporarily set up
a sharp Remote TCP to complete this teaching process.
4. Jog the robot for the Remote TCP to touch the origin, positive X-axis and the positive Y-axis
direction of the PCS on the part.
5. Finish the teaching process and confirm the PCS position and orientation.
Configuring a Toolpath Node
1. Access the Program Tab and tap URCaps.
2. Select a TCP and set the motion parameters: tool speed, tool acceleration and blend radius.
Select Spin tool freely around its Z-axis. Do not select if the tool must follow the orientation
around Z-axis defined in the toolpath file.
3. Tap +Toolpath to insert a Toolpath node.
4. In the drop-down menu, select a toolpath file and the corresponding PCS (Plane Feature).
5. Adjust the motion parameters if different values are to be applied to the Toolpath node.
6. Tap Move to First Point to verify the tool can move to the first point of the toolpath.
7. Run the program in the simulation mode, at a low speed, to confirm the configurations are
correct.
e-Series
8.2. TCP Configuration on page 123
120
7. Program Tab
to configure a Regular TCP.
8.17.5. Plane Feature on
Software Manual