Configuring a
Remote TCP
PCS
Use this method if the PCS can be set on the part surface.
1. Use freedrive to manually grasp the part with the gripper.
2. Select a Remote TCP to teach the reference points. For high accuracy,
temporarily set up a sharp Remote TCP to complete this teaching process.
3. Jog the robot for the Remote TCP to touch the origin, positive X-axis and the
positive Y-axis direction of the PCS on the part.
4. Tap Set to conclude the teaching process. The position and orientation values
are populated automatically.
Otherwise, use this method.
1. Select three or four reference points on the part surface.
2. In the CAD/CAM software, record the X, Y, Z coordinates, relative to the PCS of
the selected reference points.
3. Use freedrive to to manually grasp the part with the gripper.
4. Select a Remote TCP to teach the reference points. For high accuracy,
temporarily set up a sharp Remote TCP to complete this teaching process.
5. Enter the coordinates for the first reference point.
6. Jog the robot for the Remote TCP to touch the first reference point on the part.
7. Repeat steps five and six for the other reference points.
Setting a
Variable PCS
For advanced use cases, where the part is not grasped with high consistency, you can
set a Variable PCS to adjust the toolpath moves according to the part location and
orientation relative to the robot tool flange.
You can create a pose variable tied to an external sensor that can detect the PCS
location and orientation.
1. Set up an external sensor that detects the PCS location and orientation. You
must convert the sensor output to the robot tool flange frame.
2. Verify the PCS is set up relative to the part and the location and orientation are
detectable by the external sensor.
3. In PolyScope, create a pose variable tied to the external sensor output as a
variable PCS. Give it a distinct name, for example, variable_rtcp_pcs_1.
4. Insert an RTCP Toolpath Node.
5. At the top right corner of the program page, in the drop-down menu, select
Variable PCS.
6. In the Select PCS drop-down menu, select variable_rtcp_pcs_1.
7. Create an Assignment or Script node to update variable_rtcp_pcs_1 before the
RTCP Toolpath Node.
UR10e 274 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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