OnRobot SG User Manual page 37

OPERATION
NOTE:
For the RG2, RG6 and RG2-FT grippers the TCP is calculated always assuming
that the gripper is fully closed.
It is a good practice to set the used TCP option as the Default TCP (
Configuration, but it is not mandatory.
However, it is highly recommended to create the Waypoints in the UR's Move command in a
way that the referencing TCP is set first.
So, if only a single OnRobot device is used, before the Waypoints are defined, set the UR's
Move command's TCP to use the OnRobot_Single.
If two OnRobot devices are used, select OnRobot_Dual_1 or OnRobot_Dual_2 accordingly.
If not the UR's Move command but the OnRobot
or RG2-FT only):
Use the OnRobot TCP command just before the
•
right value
As summary here is a code example:
Single
Not mandatory to set OnRobot TCP as Default
TCP
command is used (for HEX-E/H QC
F/T Move
to set the Active TCP to the
F/T Move
Dual
Not mandatory to set OnRobot TCP as Default
TCP
) in the UR's TCP
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