Rg2-Ft - OnRobot HEX-E QC User Manual

OPERATION
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.
Payload
Modify Tool payload: If enabled the UR's payload will be overwritten.
enter the workpiece mass that is attached to the device. The device own mass is added
automatically.
Use TCP offset for CoG: set the center of gravity of the workpiece at the active TCP position.
Center of gravity CX, CY, CZ: set the location of the center of gravity of the workpiece.

6.1.3. RG2-FT

NOTE:
At program start the force/torque finger sensors are automatically zeroed so
no need to place an
sure that the fingers are not in contact with any obstacle when the program is
started. Otherwise the sensors will not be properly zeroed.
RG Grip
When the
RG Grip
(Width) and F (Force)) and, if selected, Depth compensation ON and/or Automatic centering
ON. The different functions are explained below.
82
Zero at the beginning of the program. Please make
F/T
command is executed, the gripper will try to reach the specified target (W