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TVRUTVRU Posts: 7 Apprentice
Lately we've developed some more tooling on and around the UR. Usually when we use a custom made end of arm tool (EOAT) we run the cables over the arm back to the controller and connect them to the regular I/O's. However, I've noticed the Tool Communication Interface (TCI) option in the e-series. I've scoured through the manuals, but other than how to enable it and set the parameters through the dropdown menu's I haven't found anything.

Has someone used the TCI before to control a custom made EOAT, and is willing to share some knowledge? Or is there a tutorial for it, which I can follow? Any info would help!


  • bcastetsbcastets Vacuum Beta tester Posts: 695 Expert
    Did you had a look to Universal Robot UR+ developer section ? They have documented API with a developer forum. You should find further information.
    I am not familiar with that with it looks like to make advance communication at the wrist you need to go through the development of a URCAP.
    The following lines are extracted from UR swing developer manual:

  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    We’ve started to look into using it for one of our EOAT configurations. You will need someway to use the RS485 that is used on that port to control the tool. 
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