Edit regrip

After regripping, the final position of the gripper can still be adjusted using the Gripper panel. This position is then retained for the upcoming bending process, or until a new gripping is carried out.

Editing a regrip position is done using Gripper panel.

To access a Gripper panel:

Click directly on the robot gripper.
Click the Gripper option from Regrip panel navigation menu.

Gripper panel

Using the Gripper panel, the position and orientation of the robot gripper can be modified. Also, the type of gripper and spacing between each suction point (cup) can be configured.

Use the Name field to select the type of gripper.
Select the Filtered checkbox to see only the applicable gripper for a given bending operation.
Use the Position and Angle field to change the position and orientation of the gripper over a part.

The following are the available gripper Actions…:
Click Configure option to change the position of individual gripper. This will open a new gripper panel with name on it.
- Arm
- Slide
- Stretch
- Symmetry
- Presets
  - Small
  - Large
  - Wide
  - Tall
- Import…
Use the Set Grip Plane to select a different plane to grip. When this option is selected, the mouse pointer will change to a blue color plus symbol. Hover around to see the plus symbol showing different plane orientation and select a desired plane. The below image shows the possible grip plane for a given part:

The gripper will snap to the selected plane, and the gripper position and orientation will be updated accordingly.

Suction panel

A typical Suction panel is shown alongside.

To access the Suction panel:

Click the Suction navigation menu from the Gripper panel.
Click directly on any suction cup in the robot gripper.

Use the Group # option to select a particular suction cup among all the available cups. Use the State option to change operational state to on, off or removed. Select the Type of suction cup from the available list. Select Change All checkbox to replace all of the suction cups at once.