Universal Robots Forum

TCP limit of 500mm in Polyscope

I’m working on a bin picking application with a UR5 in which I have a long suction gripper that is around 550mm long. I’m not able to set this value on the teach pendant. Why does this limit exist?

I don’t know why there is this limit, maybe it’s just a design decision.
As a workaround I suggest to use the script function set_tcp(), there you can use larger values. If you do so, you cannot use the option to set the TCP in the move-node and within the set-node.

Keep in mind, that the function has to be called at least once (e.g. after startup), before you teach your waypoints (especially if you use them in calculations (e.g. palletize)).


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