When defining Grip loads, is the offset for the COG from the tool base, or the TCP? And is it from tool coordinates or base coordinates?
Grip load definitions
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Lauyder -
July 23, 2019 at 4:46 PM -
Thread is marked as Resolved.
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From the manual Instructions, functions and datatypes:
The center of gravity of the payload expressed in mm in the tool coordinate system
if the robot is holding the tool. If a stationary tool is used then the center of gravity
for the payload held by the gripper is expressed in the object frame of the work
object coordinate system moved by the robot. -
The center of gravity of the payload expressed in mm in the tool coordinate system if the robot is holding the tool.
But offset from where? Tool base, or TCP?
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Look it up in the instructions, functions and datatypes manual, there is even an illustration to demonstrate.