Universal Robots UR5e - Page 273

3.5.1. TCP Configuration
Description A Tool Center Point (TCP) is a point on the robot’s tool. Each TCP contains
a translation and a rotation relative to the center of the tool output flange.
When programmed to return to a previously stored waypoint, a robot moves
the TCP to the position and orientation saved within the waypoint. When
programmed for linear motion, the TCP moves linearly.
Position The X, Y, Z coordinates specify the TCP position.
When all values (including orientation) are zero, the
TCP coincides with the center point of the tool
output flange and adopts the coordinate system
depicted on the screen.
Orientation The RX, RY, RZ coordinate boxes specify the TCP
orientation. Similar to the Move Tab, use the Units
drop down menu above the RX, RY, RZ boxes to
select the orientation coordinates
UR5e 273 User Manual
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