Universal Robots UR16e

7.10. URCaps
Description The Remote TCP and Toolpath URCap allows you to set Remote Tool
Center Points (RTCP), where the tool center point is fixed in space, relative
to the base of the robot. The Remote TCP and Toolpath URCap also allows
for programming waypoints and circle moves, and generating robot motion
based on imported toolpath files defined in third-party CAD/CAM software
packages.
The Remote TCP URCap requires your robot to be registered before use
(see Robot Registration and License fileon page351). The RTCP works in
applications that require the robot to grasp and move items, relative to a
fixed tool. The RTCP is used together with the RTCP_MoveP and RTCP_
CircleMove commands to move a grasped part with constant speed,
relative to the fixed tool.
Similar to a regular TCP (see ) you can define and name an RTCP in the
Installation Tab’s Setup.
You can also complete the following actions:
•
Add, rename, modify, and remove RTCPs
•
Understand the default and active RTCP
•
Teach RTCP position
•
Copy RTCP orientation
User Manual 271 UR16e
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