Hello masters,
I have some questions about how to create a new tool, a gripper, to be more specific. Reading the Rapid Manual, I found some info about how to declare Tooldata, Loaddata, creating TCP, etc, but how can I determine these values? Some examples:
1 - PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0]; The center of gravity is x = 50, y = 0 and z = 50 mm;
2 - PERS tooldata tool_griper:=[TRUE,[[-132.546,1109.82,486.559],[1,0,0,0]],[176.4,[11.6,41.5,166.8]; The TCP position, the CoG and the moment of inertia.
I have some experience in KUKA KRC2 and i can run a sub routine called Load Determination to grab all this infos a past to my declared tool. There is a similar program on ABB IRC5? Or another method?
Ty guys 
