Rg2/6 - 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.

6.1.4. RG2/6

RG Grip
The command is used to grip/release a workpiece.
RG Grip
When the
RG Grip
(Width and Force) and, if selected, Depth compensation. The different functions are
explained below.
Select device
When two grippers are used, the radio buttons with the gripper's name will appear. These
buttons will select which one of the two grippers performs the action.
Target
Width: The target gripping width can be set by using the
button (recommended) or by typing it in manually.
98
command is executed, the gripper will try to reach the specified target
Save as Target/Save Grasp