ABB PickMaster Twin - PowerPac - Page 161

Tuning the item
xx1900000594
Description
Allows you to set the location of the gripper when doing the picking and placing
operation in X direction.
GripX
Allows you to set the location of the gripper when doing the picking and placing
operation in Y direction.
GripY
Allows you to set the location of the gripper when doing the picking and placing
operation in Z direction.
GripZ
Allows you to set the angle of the gripper when doing the picking and placing
operation in X direction.
Note
The angle cannot be out of the physical limits. Or the robot will not work nor-
mally.
For example, trying to rotate the gripper of an IRB 360 robot in X or Y direction
will cause an error. Redo the simulation after the error occurred.
GripAngleX
Allows you to set the angle of the gripper when doing the picking and placing
operation in Y direction.
Note
The angle cannot be out of the physical limits. Or the robot will not work nor-
mally.
For example, trying to rotate the gripper of an IRB 360 robot in X or Y direction
will cause an error. Redo the simulation after the error occurred.
GripAngleY
Continues on next page
Application manual - PickMaster® Twin - PowerPac 161
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.2.12 Simulation
Continued