Universal Robots UR16e

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User defined tools For the user defined tools, the user can change:

•

Radius to change the radius of the tool sphere. The radius is

considered when using safety planes. When a point in the sphere

passes a reduced mode trigger plane, the robot switches to

Reduced

mode. The safety system prevents any point on the sphere

from passing a safety plane (see5.8. Software Safety Restrictionson

page146).

•

Position to change the position of the tool with respect to the tool

flange of the robot. The position is considered for the safety

functions for tool speed, tool force, stopping distance and safety

planes.

You can use an existing Tool Center Point as a base for defining new tool

positions. A copy of the existing TCP, predefined in General menu, in TCP

screen, can be accessed in Tool Position menu, in Copy TCP drop-down

list.

When you edit or adjust the values in the Edit Position input fields, the

name of the TCP visible in the drop down menu changes to custom,

indicating that there is a difference between the copied TCP and the actual

limit input. The original TCP is still available in the drop down list and can

be selected again to change the values back to the original position. The

selection in the copy TCP drop down menu does not affect the tool name.

Once you apply your Tool Position screen changes, if you try to modify the

copied TCP in the TCP configuration screen, a warning icon appears to the

right of the Copy TCP text. This indicates that the TCP is out of sync i.e. the

information in the properties field is not updated to reflect modifications that

may have been made to the TCP. The TCP can be synced by pressing the

sync icon (see).

The TCP does not have to be synced in order to define and use a tool

successfully.

You can rename the tool by pressing the pencil tab next to the displayed

tool name. You can also determine the Radius with an allowed range of 0-

300 mm. The limit appears in the graphics pane as either a point or a

sphere depending on radius size.

UR16e 156 User Manual

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