OnRobot VGC10, Руководство пользователя, Страница: 44 / 213

Installation
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Overwrite values
Automatic overwrite of the robot TCP configuration: when checked, the UR's TCP configuration is
automatically overwritten (Dynamic TCP mode). When unchecked the TCP is left unchanged (Static
TCP mode).
For further information and best practices on the TCP setting see
TCP Configuration section.
TCP offset
Set the Linear offset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the OnRobot
device dependent calculated TCP.
Mounting
In the normal view of the panel, the selected mounting angle is shown. To set the mounting angle press
on
.
If only one gripper is mounted, follow the steps bellow. If there are 2 grippers, follow the steps half a page
below.
1.
Make sure you are looking at the cable from the same side as it is shown on the picture .
2.
Select the angle the gripper is mounted with (positive angle towards the Quick Changer release
button ).