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UFactory xArm 5 - TCP Settings

UFactory xArm 5
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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.
TCP Offset
Setting the Tool Coordinate Offset with respect to the initial tool
frame located at the center of the flange (Frame B in the above figure) . The
position coordinates X, Y, and Z determine the position of TCP, while Roll, Pitch,
and Yaw determine the orientation. When the specified value is zero, TCP

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