I’m having trouble picking up a cylinder with a generic 3-jaw gripper. When the robot and the cylinder were both on a flat surface, everything worked fine. But now that the cylinder is on a tilted table, I can’t pick it up properly and am having difficulty aligning the EOAT. The situation is even more challenging because the robot’s plinth is also tilted. I’m trying to simulate CNC machine tending, but it has been quite difficult. I’m very new to this software, so any help or guidance would be greatly appreciated.
Is it convenient to post your layout?
Thank you for your reply.
Thanks for the layout pictures!
Actually, it’s your question that I’m confused about. Under normal circumstances, the tilt isn’t a big enough problem for VC to say that there’s a problem with not being able to grab it, and you should be able to grab the center point pretty quickly using the capture function.
So, for your question, if you are not comfortable sharing the VC file, I can only speculate, and my guess is that you are not failing to grab something, but grabbing the wrong thing, in which case the center of gravity needs to be grabbed for setup.
For your comment about not being able to EOAT, have you tried using the capture function?
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Thank you very much for your reply, much appreciated. I’m not sure if I am using the capture function correctly.
Machine_tending_not_picking.vcmx (1.2 MB)
Hey Colm_F!
Unfortunately, since I’m already in off-hours, there’s no way I can help you with the VC with license.
Specifically, you can try adjusting the Detection volume size in Grap to ensure that you can perform the grabbing action properly. As for your EOAT not being able to align, I see that you should be using the 3-jaw gripper that comes with the VC, which is co-centered with the center of the robot flange, so you can click on Snap to align the robot TCP to the center of the material in point-and-click mode.
You can make an attempt and with any luck someone will get back to you again (at least I won’t be able to get the software to help you for a couple days).
Good luck! 
Hi @BAD, thank you so much for your help.
I followed the steps you provided, but unfortunately, I haven’t had any success yet. After several attempts with the generic VC 3-jaw gripper, I decided to revert to using a magnet, and now the robot is successfully picking and placing objects.
I plan to work on getting the gripper to function properly next week. For now, my next challenge is to get the lathe operational in my simulation. Have a nice weekend. Thanks again.