ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
3.5.4. Specifying Payload, Center of Gravity and Tool Center Points
After mounting the CNC Machine Tending Kit hardware on your robot, you need to specify the payload and center of mass into the
Teach Pendant.
Note
In this Instruction Manual, " center of gravity" is also referred as " center of mass" .
Fig. 3-7: Specify the Payload and Center of gravity for the hardware mounted on your robot.
1. Go to the Inst allat ion tab > TCP.
2. Enter values of the payload and center of gravity for your CNC Machine Tending Kit. See table Values of center of mass, tool cen-
ter point and mass for kits.
3. In the dropdown list under the " Tool Center Point" section, select your first gripper. Enter its X, Y, and Z coordinates as specified
under " Gripper 1" in the same table as before.
4. Select the dropdown list once again, and select your second gripper from this list. As in the previous step, enter its coordinates
as specified under " Gripper 2" in the same table as before.
Kit Center of mass
(mm)
TCP
(X, Y, Z in mm; RX, RY, RZ in rad)
Mass
(g)
Gripper 1 Gripper 2
X Y Z X Y Z RX RY RZ X Y Z RX RY RZ
CNC Machine
Tending Kit
without the Wrist
Camera
0 0 62 154 0 138 0 0.7854 0 -154 0 138 1.22 0 -2.887 2400
CNC Machine
Tending Kit
with the Wrist Camera
-0.3 0.4 78.5 154 0 161.5 0 0.7854 0 -154 0 161.5 1.22 0 -2.887 2700
Table 3-3: Values of center of mass, tool center point and mass for kits.
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