Yes you can. In such case you would have to teach two TCPs and switch between them during program run. And in most cases you would need four different payload/CoG settings: both grippers empty, both grippers loaded, gripper 1 loaded (gripper 2 empty), and gripper 2 loaded (gripper 1 empty). You can find an example of a dual-gripper setup in our free machine tending e-learning here: academy.universal-robots.com/free-e-learning/e-series-e-learning/e-series-application-track/
If using the wizard, you must align the tool with the feature by hand. If you need more precise configuration, you can use a CAD program to calculate the orientation and input the precise numbers in the orientation field
No. The payload wizard estimates the center of gravity of both the gripper and workpiece as if they were one physical object. The payload wizard cannot estimate the center of gravity for only the workpiece.
Yes, you can design and build your own end-effector. We don't have a specific template, but you can join our developer network where you can find all the information you need and get help from other developers: www.universal-robots.com/developer/
![[Legacy] Vectis Cobot Welding Tool - TCP Instructional Video](/img/1.gif)
can you do the same thing with dual grippers?
Yes you can. In such case you would have to teach two TCPs and switch between them during program run. And in most cases you would need four different payload/CoG settings: both grippers empty, both grippers loaded, gripper 1 loaded (gripper 2 empty), and gripper 2 loaded (gripper 1 empty).
You can find an example of a dual-gripper setup in our free machine tending e-learning here: academy.universal-robots.com/free-e-learning/e-series-e-learning/e-series-application-track/
How do we align the tool-direction parallel to the Z of feature? As i saw in vid i can do only by hand and check if it is parallel by eyes.
If using the wizard, you must align the tool with the feature by hand. If you need more precise configuration, you can use a CAD program to calculate the orientation and input the precise numbers in the orientation field
Can you use the payload wizard to calculate the center of gravity of the workpiece?
No. The payload wizard estimates the center of gravity of both the gripper and workpiece as if they were one physical object. The payload wizard cannot estimate the center of gravity for only the workpiece.
Can you design and build your own end effector for a UR5 Cobot, is there a template on how to do this?
Yes, you can design and build your own end-effector. We don't have a specific template, but you can join our developer network where you can find all the information you need and get help from other developers: www.universal-robots.com/developer/
what's the full name for TCP here?
Tool center point