23.14.2. Remote TCP Movement Types
RTCP_MoveP
Similar to a regular MoveP, the RTCP_MoveP defines the tool speed and acceleration the
Robot Arm moves relative to the Remote TCP. See 24.2. TCP Configurationon page205.
RTCP Circle move
Similar to a regular Circle move, the RTCP Circle move can be added to an RTCP_MoveP
to make circular movements. See 24.2. TCP Configurationon page205.
NOTE
The maximum speed of a Circle Move may be lower than the specified
value. The circle radius is r, the maximum acceleration is A, and the
maximum speed cannot exceed Ar due to centripetal acceleration.
23.14.3. Remote TCP Waypoint
Similar to regular waypoints, RTCP Waypoints allow a tool to move linearly using constant
speed and circular blends. The default blend radius size is a shared value between all the
waypoints. A smaller blend radius size sharpens the path turn. A larger blend radius size
User Manual 195 UR5e
23.Program Tab
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