Universal Robots UR16e

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Configuring a Plane

Feature PCS

1. Create a plane feature by Adding a plane or Teaching a plane. See

2. Fix the part relative to the robot base.

3. Verify the correct TCP is us to create the plane feature. For high

accuracy, temporarily set up a sharp Remote TCP to complete this

teaching process.

4. 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.

5. Finish the teaching process and confirm the PCS position and

orientation.

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 7.7.1. Moveon page187

UR16e 280 User Manual

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