Universal Robots UR16e

To Next Page

To Previous Page

Setting the Remote

TCP from a Feature

Set an RTCP using a Feature to allow the robot to be jogged relative to the

RTCP while creating RTCP Waypoints and RTCP Circle Moves.

1. Tap the plus icon to create a new RTCP RTCP. Or select an existing

RTCP in the drop-down menu.

2. Tap the Copy values from a point feature drop-down menu and

select a Feature. Verify the RTCP orientation values update to

match that of the selected Feature.

Remote TCP

Movement Types

RTCP_MoveP Similar to a regular MoveP, the RTCP_MoveP defines the tool speed and

acceleration the Robot Arm moves relative to the Remote TCP. See .

RTCP Circle move Similar to a regular Circle move, the RTCP Circle move can be added to an

RTCP_MoveP to make circular movements. See .

NOTICE

The maximum speed of a Circle Move may be lower than

the specified value. The circle radius is

, the maximum

acceleration is

, and the maximum speed cannot exceed

due to centripetal acceleration.

UR16e 272 User Manual

Other manuals for Universal Robots UR16e