Universal Robots Forum

Tool Center Point

I have a UR Robot that need to run two different type of end effector. May I know how to change the TCP of the UR Robot using PLC? The UR Robot is communicate to my PLC using Ethernet IP Comm provided by this article. Thank you.

if program needs to choose from predefined TCPs, then easiest way would be to configure all TCPs in installation, and then use Switch node with Set node to set one as active TCP.
If TCP is dynamic, then set_tcp() script function can be used.

Following the advice of mmi, you would also just have the PLC set some input register of the robot and this would drive the switch-case logic which would programmatically call set_tcp() or use the SET command appropriately.