ABB FlexLoader Vision Product Manual page 52

4 Teachin
4.8 Grip
Continued
The Grip depth value specifies how deep the TCP of 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 what grip
height is to be sent to the robot.
xx1800000308
Pos.
A
B
C
D
52
Description
Tool center point
Grip depth
Intrusion depth
Positioning height
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Product manual - FlexLoader Vision
3HAC051771-001 Revision: B