ABB IRB 660 Product Manual page 102

3 FlexGripper UI
3.2.2.2. TCP edit
Continued
TCP Parameter description
Type
Tool
Load
Default TCP of FlexGrippers
FlexGri
pper
type
FlexGrip
per-
Vacuum
NOTE!
The default TCP is only valid with no prodcut is gripped by the FlexGripper. After the product
is gripped, the TCP location should be adjusted according to the new center of gravity.
If the user want to add TCP themselves, they can add TCP in the program. Then the newly
added TCP can be shown in the TCP list when tapping Select TCP in the TCP interface.
100
Parameter
trans x
trans y
trans z
rot q1
rot q2
rot q3
rot q4
mass
cog x
cog y
cog z
inertia x
inertia y
inertia z
Default TCP value
[TRUE, [[0,0,158], [1,0,0,0]],
[64, [-10.5,12.8,59.8],
[1,0,0,0],4.817,0,8.722]]
Description
The X-value of TCP position in mm
The Y-value of TCP position in mm
The Z-value of TCP position in mm
The q1 value in the quaternion (q1, q2, q3, q4) of
the orientation of the tool coordinate system
The q2 value in the quaternion (q1, q2, q3, q4) of
the orientation of the tool coordinate system
The q3 value in the quaternion (q1, q2, q3, q4) of
the orientation of the tool coordinate system
The q4 value in the quaternion (q1, q2, q3, q4) of
the orientation of the tool coordinate system
The weight of the tool in kg.
The X-value of the center of gravity of the tool
load (x, y and z) in mm
The Y-value of the center of gravity of the tool
load (x, y and z) in mm
The Z-value of the center of gravity of the tool
load (x, y and z) in mm
The X-value of the moments of inertia of the tool
relative to its center of mass around the tool load
coordinate axes in kgm2
The Y-value of the moments of inertia of the tool
relative to its center of mass around the tool load
coordinate axes in kgm2
The Z-value of the moments of inertia of the tool
relative to its center of mass around the tool load
coordinate axes in kgm2
Default TCP location illustration
en1011081
3HAC040633-002 Revision: -