5
Margins
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A Margin is the distance between the runtime fin-
ishing tool center and the taught Point 1, 2, 3 or 4.
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You can configure the four (4) margins by either:
1. Enter a value manually according to the
desired results.
2. Set with UR variables by going to Program >
Advanced > Assignment.
External Tooling option
Configure the position and the orientation of your Tool
Center Point (TCP) in Installation tab
→
Features
→
Point
1. Define the four points that represent the corners
of your surface.
2. Each point has its own node. Choose Set Way-
point to define your waypoint (bring the robot to
where your corner is).
3. Make sure the corner you are teaching fits the
corners’ sequence on the illustration.
4. When it is defined, you can always move to the
point (click on move here button that will be avail-
able) or change the waypoint (click on set way-
point).
5. Perform the same procedure for all four points.
Make sure the corner you are teaching fits the
corners’ sequence on the illustration.
6. When all corners have been defined, go back to
4-Point.
7. You can edit parameters (speed and spacing
between passes).
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