OnRobot VGC10 User Manual page 51

Installation
Attachment
Standard
Pipe + Cup
Adaptor + Cups
Adaptor + Pipe + Cup
For customization
The TCP values have their origin in the top part of the gripper as shown in the image below.
TCP (x, y, z) [mm] Image
(0, 0, 100)
(-17, 17, 150)
(0, 0, 110)
(0, 0, 160)
(0, 0, 75)
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