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Use the following diagram as the reference for length and width to the gripper.
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Always use the "width" and "length" values as shown below. Make sure that the width and length values are used consistently during the entire calibration. |
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X-axis: Width of the gripper
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Some grippers, such as the Piab CPT series, support multiple TCP offsets. Select the offset that fits to the current setup.
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If you can’t find the actual offset, select “Something else” and create your own TCP. |
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Use the gripper visualizer tool to verify your gripper layout. |
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If you are still uncertain about the correct settings, try the calibration test wizard. |