ABB FlexLoader Vision Product Manual page 51

will rotate, bear in mind that the z-axis occurs first, then rotation around the y-axis
and finally rotation around the x-axis.
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Figure 4.5: Directions of rotation
Height settings
The Intrusion depth value specifies how deep the grip device goes below the
located detail height at the picking position. The depth is measured positively from
the located detail height and down. This value is used to determine at what height
a check for gripper collision occurs.
Positioning height has the same function as for 2D cameras.
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
© Copyright 2014-2018 ABB. All rights reserved.
4 Teachin
4.8 Grip
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