Universal Robots E Series Original Instructions

24.2.3. Adding, Renaming, Modifying and Removing TCPs
You can start configuring a new TCP with the following actions:
•
Tap the to define a new TCP with a unique name. The new TCP is available in the
dropdown menu.
•
Tap the to rename a TCP.
•
Tap the to remove a selected TCP. You cannot remove the last TCP.
Active TCP
When moving linearly, the robot always uses the active TCP to determine the TCP offset. The
active TCP can be changed using a Move command (see23.11.1. Moveon page152) or a Set
command. The motion of the active TCP is visualised on the Graphics Tab (see23.9. Graphics
Tabon page150).
Default TCP
The Default TCP must be set as the active TCP before running a program.
•
Select the desired TCP and tap Set as default to set a TCP as the default.
The green icon in the available drop-down menu indicates the default configured TCP.
24.2.4. Teaching TCP position
TCP position coordinates can be calculated automatically as follows:
UR5e 206 User Manual
24.Installation Tab
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Universal Robots E Series Specifications

General

Brand	Universal Robots
Model	E Series
Category	Robotics
Language	English