Steps to reproduce:
Cannot change between TCP´s
In Move tap, the “shared Parameters” isn´t showing! As written in the manual
Expected Behavior:
When making a move command, I expect to be able to chose a specific TCP
Actual Behavior:
The robot keeps the running TCP
Workaround Suggestion:
None??
Robot Serial Number:
20185500710
Affected Version(s):
5.12->
Can you provide more information regarding your issue?
Also the screenshots in the article you found are very old. The interface does not look like that anymore.
If you’re using the latest software version of the E series (5.X) or the latest version of the CB series (3.X), then it is indeed possible to choose a TCP in the Move node. It’s just shown on the screen by default without having the Shared Parameters window.
As we had problems with the latest version, regarding palletizing Pavel suggested to roll back the software to 5.12, so that´s the software we are using…
I understand that we can choose the TCP in the move command, but when I run the program, the Robot don´t use the TCP that I have set. In the Lim-1 pallet it takes the first two corners correct, but the third it turns the TCP totally around.
We have unzipped the program, and can se that in the specific part of the program it sets the position to (0,0,0,0,0,0)
I can also see that other people have hat the same problem…
I found the screenshot in the manual on your website…
It is a very big issue for us, as we have production standing still…
It’s not an issue I have experienced before. Have you tried using the Set node to set the correct TCP as active instead of using the Move? 
Also, if you want a response from UR, you should write on the portal instead. They rarely respond in here, but I do believe they see the bug reports, though.
This is a forum for users and I am not associated with UR.
