Universal Robots UR3e

Remote TCP Configuring a Remote TCP for Toolpath Moves
1. At the first waypoint in the CAM environment, determine the tool orientation.
2. Use Freedrive to manually grasp the part with the gripper.
3. Select the location of the Remote TCP
4. Use the position wizard to obtain the positive values.
5. Adjust the robot until the desired part pose for approaching the remote TCP is
acheived.
6. Envision the tool orientation at the first waypoint on the physical part. The
positive Z-axis direction should point away fromthe part surface.
7. Create a Plane Feature with the same orientation as envisioned in the previous
step.
8. Set the Remote TCP orientation by copying values from the Plane Feature. The
desired part pose is maintained while the toolpath is executed.
Remote TCP
PCS
The Remote TCP Part Coordinate System (PCS) is defined as fixed relative to the robot
tool flange. Tap the wand, on the PolyScope screen, to activate the wizard to teach the
Remote TCP PCS. You can use either of the teaching methods described below.
User Manual 269 UR3e
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