Configuring End of Arm Tooling

This page provides a detailed overview about how to configure End of Arm Tooling. Further details can be reviewed within the Tooling Gallery section.

Contents

• Contents
• Configuring a standard Rethink Gripper
• Configuring a Rethink ClickSmart Gripper
• Configuring Custom End of Arm Tooling

Configuring a standard Rethink Gripper

This section will explain how to configure a standard Rethink gripper. Please refer to (link to gripper hardware page) for instructions on how to attach a standard Rethink gripper.

1. Attach the gripper. The robot will recognize which gripper is attached.

2. Open the Tooling Gallery  & select the pencil icon to edit the gripper settings.

3. Enter the tool mass.

4. Add values for the center of mass for the gripper.

5. Scroll down to add values for the tool center point.

6. When complete, press Save to store all values.

The Rethink Electric Parallel Gripper requires calibration. To calibrate the gripper, press the cross hair icon located next to the pencil icon in the tooling gallery. The gripper fingers will actuate. If calibration was successful, the status light in the tooling gallery will turn green.

To engage the Rethink gripper, hold the grasp key on the cuff. This function will either engage the vacuum or actuate the gripper fingers.

Configuring a Rethink ClickSmart Gripper

This section will explain how to configure a Rethink ClickSmart Gripper. Please refer to the (link to gripper HW page) for instructions on how to attache a Rethink ClickSmart Gripper.

1. Attach the gripper. The robot will recognize which gripper is attached.

2. Open the Tooling Gallery  & select the pencil icon to edit the gripper settings.

3. Enter the tool mass.

4. Add values for the center of mass for the gripper.

5. Scroll down to add values for the tool center point.

6. When complete, press Save to store all values.

To engage the ClickSmart Gripper, hold the grasp key on the cuff. This function will either engage the vacuum or actuate the gripper fingers.

Configuring Custom End of Arm Tooling

This section will explain how to configure custom end of arm tooling.

1. Attach the tool to the robot. The robot will not recognize the type of tool is attached.

2. Open the Tooling Gallery  & select the pencil icon to edit the tool settings.

3. Enter the tool mass. This includes the mass of the adapter plate.

4. Add values for the center of mass for the gripper.

5. Scroll down to add values for the tool center point.

6. To add an additional tool, select Add Subtool in the tooling gallery.

7. When complete, press Save to store all values.

For custom end of arm tooling, the grasp key (link to cuff page) will not function to actuate the gripper. Custom end of arm tools do not require calibration.