Universal Robots UR10/CB3, Руководство пользователя

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CAUTION
Using the robot with an installation loaded from a USB drive is not recommended.
To use an installation stored on a USB drive, first load it and then save it in the
local
programs folder using the Save As… button.
1.23.6. Installation
→
TCP Configuration
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 (see
1.22.2. Pose Editor Screen on page 117 ).
User Manual 127 UR10
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