Tcp Setup - OnRobot Gecko SP1 User Manual

OPERATION
NOTE:
It is also possible for users to craft their own custom fixture to assist in peeling
off an object if the above method is not desirable. For example, the Gecko SP
could grip a panel and then visit a forked tool to slide between, move up and
release the object. The fixture design is completely at the user's discretion.

5.1.2. TCP Setup

As highlighted in the previous section, it is very important to set the right TCP before the
peeling.
The peeling function will require X or Y and Z direction offset parameter to be set correctly.
NOTE:
If a Dual Quick Changer is used, the TCP rotation parameters must also be
specified according to the used side (Primary or Secondary).
Go to the TCP settings and add a new TCP and call it
There are three types of circular pads with the following diameters: 35, 60 and 75 mm.
When you program the peel off motion for the gripper, it is simpler to rotate it around a point
on the edge of the pad, therefore you should enter the half of the mounted pad size either in
the X or the Y coordinate field.
You can use any directions, so it can be positive or negative.
14
To peel off the Gecko SP pad from the
workpiece, the tool needs to be turned about
10 degrees around a set point on the pad's
outer diameter while the object rests on a stiff
surface that resists the rotation.
Therefore, it is very important to set the right
TCP (Tool Center Point) before the peeling
motion.
The part is released so the Gecko SP can be
moved away.
.
TCP_Gecko_SP