23.13.5. Speed limits 189
23.13.6. Test force settings 189
23.13.7. Conveyor Tracking 190
23.13.8. Screwdriving 191
23.13.9. Screwdrive Until 192
23.14. URCaps 193
23.14.1. Remote TCP and Toolpath URCap 193
23.14.2. Remote TCP Movement Types 195
23.14.3. Remote TCP Waypoint 195
23.14.4. Remote TCP Toolpath 196
23.14.5. Remote TCP 198
23.14.6. Remote TCP PCS 198
23.14.7. Regular TCP Toolpath Moves 201
24.Installation Tab 205
24.1. General 205
24.2. TCP Configuration 205
24.2.1. Position 205
24.2.2. Orientation 205
24.2.3. Adding, Renaming, Modifying and Removing TCPs 206
24.2.4. Teaching TCP position 206
24.2.5. Teaching TCP orientation 207
24.3. Payload 207
24.3.1. Adding, Renaming, Modfying and Removing Payloads 208
24.3.2. Setting the Center of Gravity 208
24.3.3. Payload Estimation 209
24.3.4. Inertia 209
24.4. Mounting 210
24.5. I/O Setup 211
24.5.1. I/O Signal Type 211
24.5.2. Assigning User-defined Names 212
24.5.3. I/O Actions and I/O Tab Control 212
24.6. Installation Variables 214
24.7. Startup 215
24.7.1. Loading a Startup Program 216
24.7.2. Starting a Startup Program 216
24.8. Tool I/O 216
24.9. I/O Interface Control 216
User Manual UR5e
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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