
Operation
115
NOTE:
For the RG2, RG6 and RG2-FT grippers the TCP is calculated always
assuming that the gripper is fully closed.
It is a good practice to set the used TCP option as the Default TCP (
) in the UR's TCP Configuration, but
it is not mandatory.
However, it is highly recommended to create the Waypoints in the UR's Move command in a way that the
referencing TCP is set first.
So, if only a single OnRobot device is used, before the Waypoints are defined, set the UR's Move
command's TCP to use the
OnRobot_Single
.
If two OnRobot devices are used, select
OnRobot_Dual_1
or
OnRobot_Dual_2
accordingly.
If not the UR's Move command but the OnRobot
F/T Move
command is used (for HEX-E/H QC or RG2-FT
only):
•
Use the OnRobot
TCP
command just before the
F/T Move
to set the Active TCP to the right value
As summary here is a code example:
Содержание VGC10
Страница 1: ...USER MANUAL FOR UR ROBOTS ORIGINAL INSTRUCTION EN v1 05...
Страница 28: ...Installation 28 5 Initialize the robot...
Страница 152: ...Hardware Specification 152 RG2 FT GrippingSpeedGraph GripperWorkingRange The dimensionsare in millimeters...
Страница 156: ...Hardware Specification 156 RG2 GrippingSpeedGraph RG2 Work Range...
Страница 159: ...Hardware Specification 159 RG6 GrippingSpeedGraph RG6 Work Range...
Страница 185: ...Hardware Specification 185 Gecko All dimensionsare in mm and inches...
Страница 186: ...Hardware Specification 186 RG2 FT All dimensionsare in mm and inches...
Страница 187: ...Hardware Specification 187 RG2 All dimensionsare in mm and inches...
Страница 188: ...Hardware Specification 188 RG6 All dimensionsare in mm and inches...
Страница 189: ...Hardware Specification 189 VG10 All dimensionsare in mm and inches...
Страница 190: ...Hardware Specification 190 All dimensionsare in mm and inches...
Страница 191: ...Hardware Specification 191 VGC10 All dimensionsare in mm and inches...
Страница 192: ...Hardware Specification 192 All dimensionsare in mm and inches...
Страница 193: ...Hardware Specification 193 Quick Changer Tool side All dimensionsare in mm and inches...
Страница 200: ...Certifications 200 10 Certifications...
Страница 201: ...Certifications 201...
Страница 202: ...Certifications 202...
Страница 203: ...Certifications 203...
Страница 204: ...Certifications 204...
Страница 205: ...Certifications 205...