ABB Robotics FlexGripper, Product Manual

Page: 98 / 116

TCP Parameter description
Description Parameter Type
The X-value of TCP position in mm trans x Tool
The Y-value of TCP position in mm trans y
The Z-value of TCP position in mm trans z
The q1 value in the quaternion (q1, q2, q3, q4)
of the orientation of the tool coordinate system rot q1
The q2 value in the quaternion (q1, q2, q3, q4)
of the orientation of the tool coordinate system rot q2
The q3 value in the quaternion (q1, q2, q3, q4)
of the orientation of the tool coordinate system rot q3
The q4 value in the quaternion (q1, q2, q3, q4)
of the orientation of the tool coordinate system rot q4
The weight of the tool in kg. mass Load
The X-value of the center of gravity of the tool
load (x, y and z) in mm cog x
The Y-value of the center of gravity of the tool
load (x, y and z) in mm cog y
The Z-value of the center of gravity of the tool
load (x, y and z) in mm cog z
The X-value of the moments of inertia of the tool
relative to its center of mass around the tool
load coordinate axes in kgm2 inertia x
The Y-value of the moments of inertia of the tool
relative to its center of mass around the tool
load coordinate axes in kgm2 inertia y
The Z-value of the moments of inertia of the tool
relative to its center of mass around the tool
load coordinate axes in kgm2 inertia z
Default TCP of FlexGrippers
Default TCP location illustration Default TCP value FlexGrip-
per type
[TRUE, [[0,0,500], [1,0,0,0]],
[60, [5.3,0.5,233],
[1,0,0,0],0,0,1.735]] FlexGrip-
per-Claw
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98 Product Manual - FlexGripper-Claw
4GAA40401009901-001 Revision: A
© Copyright 20132019 ABB. All rights reserved.
3 FlexGripper UI
3.2.2.2 TCP edit
Continued