Attaching the gripper

Attach the gripper when wrist 3 is close to its zero position. This way you can maximize the rotation range in both directions.

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We recommend that the gripper is attached so that the tool connector if facing the same direction as the conveyor when calibrating the pickup position.

If this is not possible - click here to read more about defining a custom TCP.

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In most common setups the Tool Connector points to the box arrival direction Y-