ABB FlexLoader Vision Product Manual page 50

4 Teachin
4.8 Grip
Continued
The Pos. height value specifies the height of the point above the grip height where
the tool is to be positioned before gripping.
xx1800001044
Pos.
A
B
C
The Grip height value specifies the height at which the position is to be gripped
or handled.
You can click Clone all to use these settings for all positions if all the positions
have the same edge height, positioning height and grip height.
Grip settings for 3D cameras
Introduction
The grip points are positioned in the same way as for 2D. However, there are some
setting differences as follows.
Note that the perspective concerns do not exist when the 3D camera is used, so
there are no problems with this when the grip point is positioned.
Rotation Z sets the robot tool rotation around z alignment of the detail. There is a
direct connection with the image of how the grip device rotates, just like with the
2D camera.
There is no direct connection in the image for x and y rotation. However, the x-
and y-axes for the detail are drawn in the image. To understand how the grip device
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50
Description
Positioning height
Grip height
Tool center point
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Product manual - FlexLoader Vision
3HAC051771-001 Revision: B