ABB PickMaster Twin - PowerPac Applications Manual page 161

Tuning the item
xx1900000594
GripX
GripY
GripZ
GripAngleX
GripAngleY
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
4 Working with PickMaster PowerPac
Description
Allows you to set the location of the gripper when doing the picking and placing
operation in X direction.
Allows you to set the location of the gripper when doing the picking and placing
operation in Y direction.
Allows you to set the location of the gripper when doing the picking and placing
operation in Z direction.
Allows you to set the angle of the gripper when doing the picking and placing
operation in X direction.
Note
The angle cannot be out of the physical limits. Or the robot will not work nor-
mally.
For example, trying to rotate the gripper of an IRB 360 robot in X or Y direction
will cause an error. Redo the simulation after the error occurred.
Allows you to set the angle of the gripper when doing the picking and placing
operation in Y direction.
Note
The angle cannot be out of the physical limits. Or the robot will not work nor-
mally.
For example, trying to rotate the gripper of an IRB 360 robot in X or Y direction
will cause an error. Redo the simulation after the error occurred.
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4.2.12 Simulation
Continued
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