Configuring a
Remote TCP
Toolpath Node
The following section explains how to use a variable PCS in a Remote TCP Toolpath
node.
1. Access the Program Tab and tap URCaps.
2. Select Remote TCP Move to insert an RTCP_MoveP node.
3. Select a TCP and set the motion parameters: tool speed, tool acceleration and
blend radius.
4. Tap +Toolpath to insert an RTCPToolpath node. Delete the RTCPWaypoint
node that was created by default, if it is not needed.
5. Select a toolpath file and the corresponding Remote TCP PCS fromthe drop-
down menus.
6. Adjust the motion parameters if different values are to be applied to the
RTCPToolpath node.
7. Tap Move to First Point to verify the grasped part approaches the Remote TCP
as expected.
8. Test the program in the simulation mode at a low speed to confirm the
configurations.
NOTICE
You can ensure the robot motion is identical, each time the toolpath is
executed, by adding a MoveJ with a Use Joint Angles set to move to
a fixed joint configuration before executing the toolpath. See 19.7.1
Moveon page195
User Manual 275 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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