1. Load the toolpath files in the root directory of a USB stick. Toolpath files must have
the .nc extension
2. Insert the USB stick into the Teach Pendant.
3. In the Header, tap Installation, tap URCaps, select Remote TCP & Toolpath, select
Remote TCP - Toolpath Moves, and select Toolpath.
4. Select which toolpath files to import into Polyscope.
23.14.5. Remote TCP
Configuring a Remote TCP for Toolpath Moves
1. At the first waypoint in the CAM environment, determine the tool orientation.
2. Use Freedrive to manually grasp the part with the gripper.
3. Select the location of the Remote TCP
4. Use the position wizard to obtain the positive values.
5. Adjust the robot until the desired part pose for approaching the remote TCP is
acheived.
6. Envision the tool orientation at the first waypoint on the physical part. The positive
Z-axis direction should point away fromthe part surface.
7. Create a Plane Feature with the same orientation as envisioned in the previous
step.
8. Set the Remote TCP orientation by copying values from the Plane Feature. The
desired part pose is maintained while the toolpath is executed.
23.14.6. Remote TCP PCS
The Remote TCP Part Coordinate System (PCS) is defined as fixed relative to the robot
tool flange. Tap the wand, on the PolyScope screen, to activate the wizard to teach the
Remote TCP PCS. You can use either of the teaching methods described below.
UR5e 198 User Manual
23.Program Tab
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