(5) UR CB series:
Select the “Schmalz Gripper” device configuration from the drop-down menu under “Installation
> I/O”.
5
— — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — —
Parameterize the TCP configuration as before via “Installation > General > TCP”.
Alternatively
, enter the “Tool Center Point (TCP)” as follows:
(6)
Via the “Gripper TCP” tab under “Installation > URCaps > Schmalz Gripper”.
(7)
Select the “Change robot TCP configuration” checkbox.
6
7
8
(8)
Measure the length from the coordinate origin of the UR tool to the suction cup gripping point (see image: Z
distance) and enter the value under TCP Z.
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