Hex - OnRobot HEX-E QC User Manual

SW INSTALLATION
NOTE:
The changes in the Finger Geometry settings will be saved in the gripper and
not in the installation file. Therefore, if the gripper is moved to another robot,
the settings will remain the same. However, if another gripper is used in the
same robot the settings might need to be reset again.
TCP
In the normal view of the panel the TCP of the robot can be overwritten by the TCP of the tool
by pressing the Automatic overwrite of the robot TCP configuration checkbox.
To see more options press on
Overwrite values
Automatic overwrite of the robot TCP configuration: when checked, the UR's TCP
configuration is automatically overwritten (Dynamic TCP mode). When unchecked the TCP
is left unchanged (Static TCP mode).
For further information and best practices on the TCP setting see
section.
TCP offset
Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the
OnRobot device dependent calculated TCP.

5.3.2. HEX

The configuration panels for the HEX are shown in the image below:
42
and the following screen will show:
6.4. TCP Configuration