Remote TCP Configuring a Remote TCP for Toolpath Moves
1. At the first waypoint in the CAM environment, determine the tool
orientation.
2. Use Freedrive to manually grasp the part with the gripper.
3. Select the location of the Remote TCP
4. Use the position wizard to obtain the positive values.
5. Adjust the robot until the desired part pose for approaching the
remote TCP is acheived.
6. Envision the tool orientation at the first waypoint on the physical part.
The positive Z-axis direction should point away fromthe part surface.
7. Create a Plane Feature with the same orientation as envisioned in
the previous step.
8. Set the Remote TCP orientation by copying values from the Plane
Feature. The desired part pose is maintained while the toolpath is
executed.
Remote TCP PCS The Remote TCP Part Coordinate System (PCS) is defined as fixed
relative to the robot tool flange. Tap the wand, on the PolyScope screen, to
activate the wizard to teach the Remote TCP PCS. You can use either of
the teaching methods described below.
User Manual 275 UR16e
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