DescriptionItem
Allows you to import a pre-defined gripper from the library or
upload an user defined gripper to the library.
Note
To upload an user defined gripper, click Add to library, browse
to the local folder and select the *.rslib file, the gripper will
be added to the library automatically.
Add to library
Type a name for the tool in the Name field.Gripper Name
Select a controller from the Controller list.Controller
Select a robot from the Robot list.Available Robot
Allows you to select the reference coordinate for the gripper.Reference Coordinate
Allows you to set the position of the gripper.Position XYZ(mm)
Allows you to set the orientation of the gripper.Orientation XYZ(deg)
For more details, see following section.Mass Setting
For more details, see following section.Activator Setting
DescriptionMass Setting
Use default setting for the mass setting.Use Default
Type the mass of the tool in the Mass (kg) field.Mass
Type the coordinates of the center of gravity.Center of gravity
Type the values of the inertia in Inertia (kgm
2
).Inertia
xx1900001416
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82 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.2.3 Adding Gripper
Continued
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