Configuring a Regular TCP
•
Follow the instructions in 24.2. TCP Configurationon page205 to configure a
Regular TCP.
•
Verify the positive Z-axis of the tool points away from the part surface.
Configuring a Plane Feature PCS
1. Create a plane feature by Adding a plane or Teaching a plane. See 24.17.5. Plane
Featureon page227.
2. Fix the part relative to the robot base.
3. Verify the correct TCP is us to create the plane feature. For high accuracy,
temporarily set up a sharp Remote TCP to complete this teaching process.
4. Jog the robot for the Remote TCP to touch the origin, positive X-axis and the
positive Y-axis direction of the PCS on the part.
5. Finish the teaching process and confirm the PCS position and orientation.
Configuring a Toolpath Node
1. Access the Program Tab and tap URCaps.
2. Select a TCP and set the motion parameters: tool speed, tool acceleration and
blend radius. Select Spin tool freely around its Z-axis. Do not select if the tool must
follow the orientation around Z-axis defined in the toolpath file.
3. Tap +Toolpath to insert a Toolpath node.
4. In the drop-down menu, select a toolpath file and the corresponding PCS (Plane
Feature).
5. Adjust the motion parameters if different values are to be applied to the Toolpath
node.
UR5e 202 User Manual
23.Program Tab
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