1. Tap the TCP Position Wizard.
2. Choose a fixed point in the workspace of the robot.
3. Use the position arrows on the right side of the screen to move the TCP from at least three
different angles and to save the corresponding positions of the tool output flange.
4. Use the Set button to apply the verified coordinates to the appropriate TCP. The positions
must be sufficiently diverse for the calculation to work correctly. If they are not sufficiently
diverse, the status LED above the buttons turns red.
Though three positions are sufficient to determine the TCP, a fourth position can be used to
further verify the calculation is correct. The quality of each saved point, with respect to the
calculated TCP, is indicated using a green, yellow, or red LED on the corresponding button.
Teaching TCP orientation
1. Tap the TCP Orientation Wizard.
2. Select a feature from the drop-down list. (See1.23.12. Installation → Featureson
page140) for additional information on defining new features
3. Tap Set point and use Move tool arrows to a position where the tool’s orientation and the
corresponding TCP coincide with the selected features’s coordinate system.
4. Verify the calculated TCP orientation and apply it to the selected TCP by tapping Set.
User Manual 129 UR10
Copyright © 2009–2020 by UniversalRobotsA/S. All rights reserved.
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