Good morning everyone,
i have a small problem:
I´m using a gripper with two clamps and two tcps to handle symetric parts out of a turning table. For the left part the pick and place operation works, but when I try to create the pap-operation for the right part I am not able to hit the part with the gripper. I think the problem is, that the gripper always uses the tcp for the left part.
Does anybody know how I can set a pap-operation with different TCPs? I´ve experimented with the robot toolbox to mount the same tool with different tcps, but I was not able to solve this problem.
Do you want to pick both parts at the same time or one by one?
Easiest way is to split you gripper into two single grippers and define a tcp/ grip frame for each gripper.
Then you only need to run the grip command for each gripper in the olp commands.