OnRobot Gecko SP1 User Manual page 25

HARDWARE SPECIFICATION
Internal mounting (QC
and tool are mounted
inward)
robot arm
External mounting with QC connector on the A side
Coordinate system
Example with an RG2 tool:
Rotation of the QC and the tool - whether the QC connector
points to A,B,C,D side of the Angle Bracket when mounted
Calculated (see
below)
TCP [mm]
X=0
Y= - 55 - (Tool Z value)
Z=63 + (Tool Y value)
RX=90°
RY=0°
RZ=0°
TCP [mm]
X=0
Y= - 55 - 200 = - 255
Z= 63 + 0 = 63
RX=90°
RY=0°
RZ=0°
Not
calculated Not calculated
but but possible to
possible to use
use
Center of Gravity [mm]
cX=0
cY= - 55 - (Tool Z value)
cZ= 63 + (Tool Y value)
Center of Gravity [mm]
cX=0
cY= - 55 - 64 = - 119
cZ= 63 + 0 = 63
Not
possible to
use
Weight
0.207 kg
0.456 lb
25