End Effectors Application

1. Go to the Application nodes screen. See Application Tab.

2. Tap the End Effectors icon.

   

   In the main screen, you can see End Effector application screen with a 3D robot view and an illustration of the Tool flange on the right panel. This change has been introduced to help users visualize the frame at the TCP and Tool Flange. On the left panel, the end effectors list now has the Robot group. The built-in Tool_flange end effector is located under that group.

   

The TCP wizards enables you to define the position and orientation of a TCP. The new wizards are accessible from the Tool Center Point application screen by tapping the new wizard icon next to the Position header and the Orientation header, respectively. In both wizards, you can call up a popup any time with more detailed instructions and animations on how to use the wizard. The instructions can be accessed by pressing the Instructions icon in the bottom left corner of the wizards.

1. On the left panel, tap + Add End Effector.

2. Tap TCP_1 under the newly added End_effector_1 tree.

3. In the central panel, the Tool Center Point, you see the two wizard wand icons for Position and Orientation.

   

You can start configuring a new TCP with the following actions:

• Tap to define a new TCP with a unique name. The new payload appears in the End effector tree..

• Tap to rename a TCP.

• Tap to duplicate a TCP.

• Tap to delete a selected TCP. You cannot remove the last TCP.

The check-mark in the drop-down indicates which TCP is active .

The default TCP is set as the active TCP before the program starts.

Select the desired TCP and tap to Set as default to set a TCP as the default.