12.6 Installation → TCP Configuration
12.6.1 Adding, modifying and removing TCPs
To define a new TCP, hit the New button. The created TCP then automatically receives
a unique name and becomes selected in the drop-down menu.
The translation and rotation of the selected TCP can be modified by tapping the re-
spective white text fields and entering new values.
To remove the selected TCP, simply tap the Remove button. The last remaining TCP
cannot be deleted.
12.6.2 The default and the active TCP
Precisely one of the configured TCPs is the default one. The default TCP is marked by
a green icon to the left of its name in the drop-down TCP menu. To set the currently
selected TCP as the default one, hit the Set as default button.
One TCP offset is always used as the active one to determine all linear motions in
Cartesian space. Also, it is the motion of the active TCP that is visualized on the
Graphics tab (see 13.28). Before any program is run, as well as before the start of
a program, the default TCP is set as the active one. Within a program, any of the
specified TCPs can be set as the active one for a particular movement of the robot
(see 13.5 and 13.10).
12.6.3 Teaching TCP position
TCP position coordinates can be calculated automatically as follows:
CB3 II-24 Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
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