Universal Robots UR16e

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8.1.1. Teaching TCP Position

Teaching TCP

orientation

TCP position coordinates can be calculated automatically as follows:

1. Tap Measure.

2. Choose a fixed point in the workspace of the robot.

3. Use the position arrows on the right side of the screen to move the

TCP from at least three different angles and to save the

corresponding positions of the tool output flange.

4. Use the Set button to apply the verified coordinates to the

appropriate TCP. The positions must be sufficiently diverse for the

calculation to work correctly. If they are not sufficiently diverse, the

status LED above the buttons turns red.

Though three positions are sufficient to determine the TCP, a fourth

position can be used to further verify the calculation is correct. The quality

of each saved point, with respect to the calculated TCP, is indicated using

a green, yellow, or red LED on the corresponding button.

1. Tap Measure.

2. Select a feature from the drop-down list. (See8.13. Featureson

page306) for additional information on defining new features

3. Tap Set point and use Move tool arrows to a position where the

tool’s orientation and the corresponding TCP coincide with the

selected features’s coordinate system.

4. Verify the calculated TCP orientation and apply it to the selected

TCP by tapping Set.

User Manual 283 UR16e

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