ABB PickMaster Twin - PowerPac Applications Manual page 162

4 Working with PickMaster PowerPac
4.2.12 Simulation
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GripAngleZ
Configuring the grip location
Use this procedure to configure the item's grip location.
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162
Description
Allows you to set the angle of the gripper when doing the picking and placing
operation in Z direction.
Note
The angle cannot be out of the physical limits. Or the robot will not work nor-
mally.
1 Select the Type as Item and select the required item.
2 Define the positions in millimeters for the grip position of the item specified
in X', Y', and Z' coordinates. The positions are relative to the origin of the
taught model (Vision model grip point). See the following graphic.
xx0900000522
A Camera
B Adjusted grip point
C Vision model grip point
D Item height
E Angle X
F Angle Y
G Conveyor direction
3 Define the Euler orientation in degrees for the grip orientation on the item.
A four axes robot (that is IRB 360) can only rotate around the z-axis and
therefore only GripAngleZ can be used.
Six axes robots can pick/place 3D items by defining Euler orientation
GripAngleX, GripAngleY and the item height. The grip orientation has an
orientation in relation to the origin of the taught model (Vision model grip
point). The item height must be specified in the Item configuration dialog,
as a distance from the base frame to the item origin (vision model grip point).
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Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B