UFactory XARM User Manual page 91

⚫ When no end effector is installed at the end of the robotic arm, select
[No End Effector]
1.4.3 TCP Settings
Set TCP Payload and TCP Offset according to the actual situation.
【TCP Payload】
The load weight refers to the actual mass (end-effector + object) in
●
Kg; X/Y/Z-axis represents the position of the centre of gravity of
payload in mm, this position is expressed in default TCP coordinate
located at flange center (Frame B in the above figure). If there is
virtually no load at the end, both TCP payload and centre of gravity
must be set to 0.
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