ABB PickMaster Twin - PowerPac Applications Manual page 82

4 Working with PickMaster PowerPac
4.2.3 Adding Gripper
Continued
Item
Add to library
Gripper Name
Controller
Available Robot
Reference Coordinate
Position XYZ(mm)
Orientation XYZ(deg)
Mass Setting
Activator Setting
Mass Setting
Use Default
Mass
Center of gravity
Inertia
xx1900001416
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Description
Allows you to import a pre-defined gripper from the library or
upload an user defined gripper to the library.
Note
To upload an user defined gripper, click Add to library, browse
to the local folder and select the *.rslib file, the gripper will
be added to the library automatically.
Type a name for the tool in the Name field.
Select a controller from the Controller list.
Select a robot from the Robot list.
Allows you to select the reference coordinate for the gripper.
Allows you to set the position of the gripper.
Allows you to set the orientation of the gripper.
For more details, see following section.
For more details, see following section.
Description
Use default setting for the mass setting.
Type the mass of the tool in the Mass (kg) field.
Type the coordinates of the center of gravity.
Type the values of the inertia in Inertia (kgm
Application manual - PickMaster® Twin - PowerPac
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3HAC064218-001 Revision: B