Adept AdeptSight User Guide - Manual (Page 197)

Gripper Offset
The Gripper Offset Tool defines where on the part a robot can pick up a part, giving the rela-
tionship between the pick point, the part model, and the robot flange center.
A gripper has two types of offsets:
l
The offset from the center of the tool flange to the gripper tip(s)
This offset is established when the gripper itself is defined. Right-click in the Tree struc-
ture, then select:
New > Device > Tool > IO Driven Gripper
This is documented in the AdeptSight User's Guide. This offset will be applied to that
gripper whenever it is used, including calculating values for the Gripper Offset Table.
l The offset, on a part to be picked, from the actual pick point to the part origin
This is defined in the Gripper Offset Table. Right-click in the Tree structure, then
select:
New > Vision > AdeptSight > Gripper Offset Table
The tool is added to the AdeptSight workspace and the Gripper Offset
Tool object editor opens.
Use the controls within the object editor to configure the Gripper Offset
Tool for your application.
Related Topics
Gripper Offset Table on page 199
Gripper Offset
AdeptSight User's Guide, Version 3.2.x, Updated: 8/23/2012
Page 197