Tool Configuration: TCP, orientation, payload & center of gravity

This tutorial walks you through all the steps of configuring a tool/end-effector:
00:00 Introduction
00:20 Teach TCP
01:27 Test TCP is correct
01:57 Teach orientation
02:22 Test orientation is correct
02:40 Teach payload & center of gravity
03:58 Test payload is correct
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[@Andring0]

Can you use the payload wizard to calculate the center of gravity of the workpiece?

[@UniversalRobotsAcademy]

No. The payload wizard estimates the center of gravity of both the gripper and workpiece as if they were one physical object. The payload wizard cannot estimate the center of gravity for only the workpiece.

[@MrRock861261]

can you do the same thing with dual grippers?

[@UniversalRobotsAcademy]

Yes you can. In such case you would have to teach two TCPs and switch between them during program run. And in most cases you would need four different payload/CoG settings: both grippers empty, both grippers loaded, gripper 1 loaded (gripper 2 empty), and gripper 2 loaded (gripper 1 empty).
You can find an example of a dual-gripper setup in our free machine tending e-learning here: academy.universal-robots.com/free-e-learning/e-series-e-learning/e-series-application-track/

[@ryanmckenna2047]

Can you design and build your own end effector for a UR5 Cobot, is there a template on how to do this?

[@UniversalRobotsAcademy]

Yes, you can design and build your own end-effector. We don't have a specific template, but you can join our developer network where you can find all the information you need and get help from other developers: www.universal-robots.com/developer/

[@user-op8of5xx6d]

what's the full name for TCP here?

[@UniversalRobotsAcademy]

Tool center point