Tcp Configuration - OnRobot UR CB3 Series User Manual

OPERATION
tfg_release(diameter,
select_releasing=0, blocking=True)
: The diameter that the gripper will open to. [mm]
diameter
external_release
used. If false, the external gripper diameter to do an internal release will be used.
: Select what gripper performs the action. 0 only one gripper connected, 1 for
tool_index
gripper in position 1 and 2 for gripper position 2. Positions of the dual quick changer.
=True: the function waits for the gripper to finish the grip command.
blocking
For example, a relative movement for quickly releasing a workpiece can be done as follows: If
only one gripper is connected:
tfg_release(3fg_Diameter+5, 3fg_index_get())
the default speed.
If two 3FG grippers are attached, use:
tfg_release (3fg_Diameter_primary+5, 1) -> for primary
tfg_release (3fg_Diameter_primary+5, 2) -> for secondary

6.4. TCP Configuration

TCP is the abbreviation of the Tool Center Point.
How "far" the TCP needs to be moved to be at the "end" of the OnRobot tools could be found
in the 8.3. COG, TCP
36
external_release= True, tool_index=0,
: If true, the internal gripper diameter to do an external release will be
TCP is a point that is in the beginning (by default) located at the
middle point of the UR's tool flange. This is an important point
during robot programming since UR's Move commands are
always referenced to a given TCP point and rotations could only
be carried out about these points.
If a tool is attached to the robot, it makes easier for the
user to change that point to the tool's "end" point (see
illustration on the left).
In this way it is easy to rotate the tool while the
workpiece is being stationary in space (see illustration
on the right).
More than one TCP point could be defined but at a
given time only one TCP can be active. In UR, it is called
the Active TCP.
By default, UR's Move commands are always recording
the Waypoints according to the Active TCP.
For further info about the UR's TCP handling read the
UR's Manual.
section.
This will open the Gripper 5mm with