Tool Position - Universal Robots e-Series Original Instructions Manual

5. Safety Configuration
3. Brakes are only released in the joints to which significant pressure is applied. As long as the
Freedrive button is engaged/pressed. While using Backdrive, the robot arm feels heavy to
move around.

5.14. Tool Position

The Tool Position screen enables more controlled restriction of tools and/or accessories placed on
the end of the robot arm.
Robot is where you can visualize your modifications.
Tool is where you can define and configure a tool up to two tools.
Tool_1 is the default tool defined with values x=0.0, y= 0.0, z=0.0 and radius=0.0. These values
represent the robot tool flange.
Under Copy TCP, you can also select Tool Flange and cause the tool values to go back to 0.
A default sphere is defined at the tool flange.
For the user defined tools, the user can change:
Radius to change the radius of the tool sphere. The radius is considered when using safety planes.
When a point in the sphere passes a reduced mode trigger plane, the robot switches to Reduced
mode. The safety system prevents any point on the sphere from passing a safety plane (see
Planes on page 39).
Position to change the position of the tool with respect to the tool flange of the robot. The position
is considered for the safety functions for tool speed, tool force, stopping distance and safety
planes.
You can use an existing Tool Center Point as a base for defining new tool positions. A copy of the
existing TCP, predefined in General menu, in TCP screen, can be accessed in Tool Position menu,
in Copy TCP drop-down list.
When you edit or adjust the values in the Edit Position input fields, the name of the TCP visible in
Software Manual 43
5.11.
e-Series