OnRobot HEX-E QC User Manual page 132

OPERATION
OnRobot_Single
•
If no Dual Quick Changer is detected, so
only one tool is used.
OnRobot_Dual_1 and OnRobot_Dual_2
•
If a Dual Quick Changer is detected, so two tools are used.
NOTE:
OnRobot_Dual_1 belongs to the tool that is attached to the Primary side of the
Dual Quick Changer.
The TCP values are created and precalculated based on the detected tool(s). So, if the RG2 is
mounted in 30° (with the built-in tilting mechanism) the precise TCP is defined accordingly.
The calculation is only carried out when a new device is detected or when the mounting
angle is changed (only for RG2/6 and RG2-FT).
The calculated values are static parameters and do not change during program execution.
NOTE:
For the RG2, RG6 and RG2-FT grippers the TCP is calculated always assuming
that the gripper is fully closed.
It is a good practice to set the used TCP option as the Default TCP (
Configuration, but it is not mandatory.
However, it is highly recommended to create the Waypoints in the UR's Move command in a
way that the referencing TCP is set first.
So, if only a single OnRobot device is used, before the Waypoints are defined, set the UR's
Move command's TCP to use the OnRobot_Single.
132
) in the UR's TCP