...
width, length, height: total dimensions of the entire gripper (mm)
weight: weight of the gripper including mounting bracket and screws (kg)
foamHeight: the height of the foam / suction cups that can be pressed down (mm)
properties:
edgeAlignment: if true, the box edges will be aligned to the gripper zone edges, otherwise the gripper zone(s) will be centered above the box center
coveragePercent: defines how many percents of the vacuum zone (bounding rectangle) area must be covered in order to use a specific zone (0…100)
tcp: the tool center point (TCP) of the gripper as [x, y, z, rx, ry, rz] where x, y, z are given in mm, rx, ry, ry in degrees.
cog: the center of gravity (COG) of the empty gripper as [x, y, z] where x, y, z are in mm
zones: definition of each individually controllable vacuum area
id: unique identifier (number) of the vacuum area, starting from 1
x, y: center point of the bounding rectangle relative to the gripper center (mm)
width, length: size of the bounding rectangle (mm)
grip: digital IO signal that controls the vacuum
type: standard, configurable, tool (robot IO type)
channel: the digital output channel (0-1 for tool 0-7 otherwise)
inverse: optional, true if high level signal means no vacuum
release: digital signal that controls the compressed air blow (optional)
type: standard, configurable, tool (robot IO type)
channel: the digital output channel (0-1 for tool 0-7 otherwise)
inverse: optional, true if high level signal means no blow
...