Universal Robots UR12e User Manual page 154

User For the user defined tools, the user can change:
defined
•
tools
•
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 the drop down menu changes to custom, indicating that there is a difference
between the copied TCP and the actual limit input. The original TCP is still available in the
drop down list and can be selected again to change the values back to the original position.
The selection in the copy TCP drop down menu does not affect the tool name.
Once you apply your Tool Position screen changes, if you try to modify the copied TCP in the
TCP configuration screen, a warning icon appears to the right of the Copy TCP text. This
indicates that the TCP is out of sync i.e. the information in the properties field is not updated
to reflect modifications that may have been made to the TCP. The TCP can be synced by
pressing the sync icon.
The TCP does not have to be synced in order to define and use a tool successfully.
You can rename the tool by pressing the pencil tab next to the displayed tool name. You can
also determine the Radius with an allowed range of 0-300 mm. The limit appears in the
graphics pane as either a point or a sphere depending on radius size.
UR12e
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.
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.
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