Configuring a
Toolpath Node
1. Access the Program Tab and tap URCaps.
2. Select a TCP and set the motion parameters: tool speed, tool acceleration and
blend radius. Select Spin tool freely around its Z-axis. Do not select if the tool
must follow the orientation around Z-axis defined in the toolpath file.
3. Tap +Toolpath to insert a Toolpath node.
4. In the drop-down menu, select a toolpath file and the corresponding PCS (Plane
Feature).
5. Adjust the motion parameters if different values are to be applied to the Toolpath
node.
6. Tap Move to First Point to verify the tool can move to the first point of the
toolpath.
7. Run the program in the simulation mode, at a low speed, to confirm the
configurations are correct.
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 277 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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