Universal Robots UR16e

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.
UR16e 276 User Manual
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