OnRobot VGC10, Руководство пользователя, Страница: 116 / 213

Operation
116
Single Dual
Not mandatory to set OnRobot TCP as Default TCP Not mandatory to set OnRobot TCP as Default TCP
Robot program
MoveJ (Set TCP = OnRobot_Single)
#Alternatively
TCP
F/T Move
Robot program
MoveJ (Set TCP = OnRobot_Dual_1)
MoveJ (Set TCP = OnRobot_Dual_2)
Dynamic TCP mode
In this mode the UR's Active TCP is set automatically according to the
detected OnRobot device.
This mode is useful when the TCP effect of the width value of the gripper
(RG2, RG6 or RG2-FT only) is needed to be considered.
During the robot program execution if the
RG Grip
commands are used
to open or close the gripper TCP is automatically set accordingly.
Furthermore, if the OnRobot Toolbar is used to open or close the gripper
the Active TCP is adjusted immediately.
However, the Active TCP is overwritten directly, there is also an OnRobot
defined TCP, that is called:
•
OnRobot_Default
This is the name in both the Single and Dual device case.
It is recommended to set the OnRobot_Default option as the Default TCP ( ) in the UR's TCP
Configuration.
To let the system to automatically update the TCP during the program execution the UR's Move
commands needs to be left at its default setting of
Set as Active TCP . (Compared to the Static TCP mode
where it is needed to be changed to a predefined TCP).
In case when two grippers are used, the Active TCP needs to be selected to which gripper to belong to:
•
first use an OnRobot
TCP
command and select from Gripper 1 and Gripper 2 which one to be used
•
then the UR's Move will have an updated Active TCP that could be used for multiple Move
commands
•
when it will be necessary to change to the other gripper just use another TCP and select the other
gripper.