13.6 Installation → TCP Configuration
13.6.2 Active TCP
When moving linearly, the robot always uses the active TCP to determine the TCP offset. The
active TCP can be changed using a Move command (see 14.4) or a Set command.
13.6.3 Default TCP
The Default TCP must be set as the active TCP before running a program. Select the desired TCP
and tap Set as default to set a TCP as the default. The green icon in the available drop-down
menu indicates the default configured TCP.
13.6.4 Teaching TCP position
TCP position coordinates can be calculated automatically as follows:
1. Tap the TCP Position Wizard.
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.
e-Series II-42 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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