OnRobot HEX-E QC - 6.1.4. RG2;6

TCP oset
Set the Linear oset (X,Y,Z) and the Rotation in RPY (Roll-Pitch-Yaw) values to adjust the
OnRobot device dependent calculated TCP.
Payload
Modify Tool payload: If enabled the UR's payload will be overwritten.
enter the workpiece mass that is attached to the device. The device own mass is added
automatically.
Use TCP
oset for CoG: set the center of gravity of the workpiece at the active TCP position.
Center of gravity CX, CY, CZ: set the location of the center of gravity of the workpiece.
6.1.4. RG2/6
RG Grip
The RG Grip command is used to grip/release a workpiece.
When the RG Grip command is executed, the gripper will try to reach the specified target
(Width and Force) and, if selected, Depth compensation. The
dierent functions are
explained below.
Select device
When two grippers are used, the radio buttons with the gripper's name will appear. These
buttons will select which one of the two grippers performs the action.
Target
Width: The target gripping width can be set by using the
Save as Target/Save Grasp
button (recommended) or by typing it in manually.
OPERATION
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