OnRobot UR CB3 Series User Manual page 46

ADDITIONAL SOFTWARE OPTIONS
Select finger position - Select the mounted finger position and Save.
•
Set finger length - If customized fingers are needed, the checkbox can be enabled, and
•
the new finger length can be entered.
Set fingertip offset - The 4 different types that are delivered with the gripper can be
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selected by pressing the radio button. If customized fingertips are made, the custom
option can be selected.
Saving any of these 3 settings will automatically apply the changes. Different finger positions,
fingertip diameters and finger lengths will allow to achieve different diameters and forces.
Find more information in sections
46
Gripping Force and Gripping Diameter.