ABB Robotics FlexGripper Product Manual page 98

3 FlexGripper UI
3.2.2.2 TCP edit
Continued
TCP Parameter description
Type
Tool
Load
Default TCP of FlexGrippers
FlexGrip-
per type
FlexGrip-
per-Claw
Continues on next page
98
Parameter
trans x
trans y
trans z
rot q1
rot q2
rot q3
rot q4
mass
cog x
cog y
cog z
inertia x
inertia y
inertia z
Default TCP value
[TRUE, [[0,0,500], [1,0,0,0]],
[60, [5.3,0.5,233],
[1,0,0,0],0,0,1.735]]
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Description
The X-value of TCP position in mm
The Y-value of TCP position in mm
The Z-value of TCP position in mm
The q1 value in the quaternion (q1, q2, q3, q4)
of the orientation of the tool coordinate system
The q2 value in the quaternion (q1, q2, q3, q4)
of the orientation of the tool coordinate system
The q3 value in the quaternion (q1, q2, q3, q4)
of the orientation of the tool coordinate system
The q4 value in the quaternion (q1, q2, q3, q4)
of the orientation of the tool coordinate system
The weight of the tool in kg.
The X-value of the center of gravity of the tool
load (x, y and z) in mm
The Y-value of the center of gravity of the tool
load (x, y and z) in mm
The Z-value of the center of gravity of the tool
load (x, y and z) in mm
The X-value of the moments of inertia of the tool
relative to its center of mass around the tool
load coordinate axes in kgm2
The Y-value of the moments of inertia of the tool
relative to its center of mass around the tool
load coordinate axes in kgm2
The Z-value of the moments of inertia of the tool
relative to its center of mass around the tool
load coordinate axes in kgm2
Default TCP location illustration
Product Manual - FlexGripper-Claw
4GAA40401009901-001 Revision: A