Press the Show Layout button to get a graphical representation of how the robot program will use the gripper. This will help troubleshooting typical configuration mistakes in TCP and dimensions, especially when using a gripper.json file.
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The calculated layout will appear in a new popup:
The overall size of the gripper will appear as a gray rectangle,
Each vacuum zone will appear as a colored rectangle (only available with gripper.json)
Each rectangle will appear with an X showing the center point of the corresponding rectangle
The tool flange appears relative to the gripper with respect to the current TCP position/rotation offsets
Press the “Close and return to the main screen” button to close the popup and return to Polyscope.
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The diagram shows the gripper and the tool flange from the underside. |