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 7.7.1. Moveon page187
UR16e 278 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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