OnRobot 2FGP20 User Manual page 3

4.5.4.1. 2FGP20......................................................................................................................19
5. SW Installation............................................................................................................................ 20
5.1. Robot Software Setup................................................................................................................... 20
5.1.1. URCap Setup........................................................................................................................20
5.1.1.1. Device Info................................................................................................................. 20
5.1.1.2. 2FGP20......................................................................................................................24
6. Operation..................................................................................................................................... 28
6.1. URCap Commands.........................................................................................................................28
6.1.1. 2FGP20.................................................................................................................................. 28
6.1.1.1. 2FGP20 Finger Grip................................................................................................ 28
6.1.1.2. 2FGP20 Finger Release........................................................................................ 30
6.1.1.3. 2FGP20 Vacuum Grip............................................................................................. 31
6.1.1.4. 2FGP20 Vacuum Release..................................................................................... 32
6.2. URCap Toolbar............................................................................................................................... 32
6.2.1. 2FGP20................................................................................................................................. 35
6.3. URScript Commands..................................................................................................................... 37
6.3.1. 2FGP20................................................................................................................................. 37
6.4. TCP Configuration..........................................................................................................................37
6.5. Feedback Variables....................................................................................................................... 41
6.5.1. 2FGP20.................................................................................................................................. 41
7. Additional Software Options..................................................................................................... 42
7.1. Compute Box/Eye Box................................................................................................................... 42
7.1.1. Ethernet Interface Setup.................................................................................................... 42
7.1.2. Web Client.............................................................................................................................44
7.1.3. Web Client: Devices Menu................................................................................................45
7.1.3.1. 2FGP20.......................................................................................................................46
7.1.4. Web Client: Configuration Menu.....................................................................................50
7.1.5. Web Client: Update Menu..................................................................................................51
7.1.6. Web Client: TCP/COG........................................................................................................ 53
7.1.7. Web Client: Account Settings........................................................................................... 54
8. Hardware Specification............................................................................................................. 58
8.1. Technical Sheets.............................................................................................................................58
8.1.1. 2FGP20.................................................................................................................................. 58
8.1.2. Quick Changers.................................................................................................................. 67
8.1.3. Compute Box....................................................................................................................... 68
8.1.3.1. With 6.25A Wall Adapter (150W)......................................................................... 68
8.1.3.2. Compute Box I/O interface.................................................................................. 69
8.2. Mechanical Drawings................................................................................................................... 69
8.2.1. Adapter Plate.......................................................................................................................69
8.2.2. Mountings............................................................................................................................70
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