When using a symmetrical double gripper, the TCP of an end effector is configured based on the other well-configured end effector. The TCP offset of a new end effector can be easily configured by rotating the pose and point on the tool coordinate at the base end effector TCP point on the Z axis by the angle entered.
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Select the Tool Center Point tab on the end effector setting screen.
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Tap the Auto Calculate toggle switch.
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Select the Reference End Effector item.
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Select the end effector to copy.
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Configure the tool Z-axis rotate angle of the configuring end effector and reference end effector.
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Click the Auto Calculate button on the bottom, check whether the calculated TCP offset is automatically entered and tap the Confirm button.
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The configuring end effector and base end effector must be symmetrical on the tool Z axis.
