20.Installation Tab
Description The Installation Tab allows you to configure the settings which affect the overall
performance of the robot and PolyScope.
20.1. TCP Configuration
Description A Tool Center Point (TCP) is a point on the robot’s tool. Each TCP contains a
translation and a rotation relative to the center of the tool output flange.
When programmed to return to a previously stored waypoint, a robot moves the TCP
to the position and orientation saved within the waypoint. When programmed for linear
motion, the TCP moves linearly.
Position The X, Y, Z coordinates specify the TCP position. When all values
(including orientation) are zero, the TCP coincides with the center
point of the tool output flange and adopts the coordinate system
depicted on the screen.
Orientation The RX, RY, RZ coordinate boxes specify the TCP orientation.
Similar to the Move Tab, use the Units drop down menu above the
RX, RY, RZ boxes to select the orientation coordinates
UR10e 278 User Manual
20.Installation Tab
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