The gripper rotates about its Y axis, but the grasped component stays suspended because the picked part is not following the rotating gripper link in the component hierarchy. Attach the tool to the gripper’s Link1, then check the MountFrame orientation so the grasped component can move with the link.
Attach the tool to the rotating gripper link
Before changing the mount, identify the link that carries the servo-controlled rotation. In this setup, the required parent is the gripper’s Link1. A tool mounted elsewhere in the robot hierarchy may grasp a component successfully while remaining outside the rotating link’s transform chain.
- Unmount the gripper tool from its current parent.
- Attach the tool to
Link1. - Inspect the assembly hierarchy and confirm that the tool is a child of the rotating link, not merely positioned next to it in the model.
Keep the servo controller assigned to the link that performs the intended Y-axis rotation. Do not use successful servo motion alone as proof that the tool is mounted correctly: the key check is the parent-child relationship in the hierarchy.
Reset the MountFrame orientation before remounting
Before remounting, inspect the gripper’s MountFrame. A nonzero rotation in parent coordinates can introduce an unexpected orientation offset between the tool and its parent. That offset may make the tool or grasped component behave incorrectly even after the hierarchy is corrected.
- With the tool unmounted, select the gripper’s
MountFrame. - Set its rotations in Parent coordinates to zero.
- Confirm that the displayed parent-coordinate rotations are zero before proceeding.
Zeroing these values is a frame-alignment check; it is not a substitute for attaching the tool under the rotating link. Keep the tool unmounted while correcting the frame so you can verify the mount orientation directly.
Remount with the PnP tool and confirm the hierarchy
After the parent-coordinate rotations are zero, mount the tool back using the PnP tool. Then check both the resulting hierarchy and the mount orientation. Remounting before correcting the frame can preserve an unwanted rotational offset, so perform the frame correction first.
- Use the PnP tool to mount the gripper tool on
Link1. - Inspect the assembly tree and confirm that the tool remains a child of
Link1. - Check the mounted tool’s orientation against the intended gripper pose before testing a grasp.
These checks separate two setup requirements: the hierarchy determines which motion the tool inherits, while the mount frame determines its orientation relative to the parent. Both must be correct for the rotation test to be meaningful.
Test the grasped component through a controlled rotation
With the tool mounted and its frame checked, run the existing grasp operation and verify that the component is actually grasped before rotating. A successful grasp is a prerequisite for testing whether the part follows the gripper.
- Move the robot to a safe, observable pose and grasp a component.
- Confirm that the component is held by the tool before commanding rotation.
- Command a small Y-axis rotation of the gripper link while observing the tool and part.
- Confirm that the component changes position and orientation with the gripper rather than remaining suspended in its previous world position.
During a grasp, the simulation creates ComponentContainer behavior under the link when the tool is attached correctly. This is the mechanism that lets the picked component follow the link’s movement. If the part stays in place, inspect the tool’s parent link and grasp state before changing the servo controller.
Check motion inheritance before accepting the fix
Use the following decision path if the part still does not follow:
| Observed result | Check | Next action |
|---|---|---|
| Tool does not rotate with the gripper | Tool parent in the assembly hierarchy | Unmount and attach the tool under Link1. |
| Tool rotates, but the part remains behind | Whether the grasp is active and ComponentContainer behavior appears under the link |
Repeat the grasp and confirm the container behavior before rotating. |
| Tool or part rotates with an offset |
MountFrame rotations in Parent coordinates |
Unmount, zero the rotations, then remount with the PnP tool. |
Do not compensate for a mount-frame error by changing the servo rotation command. That changes the motion being tested without correcting the tool-to-link relationship. Likewise, do not treat a tool that follows the link as proof that the grasped component is captured; verify the held part separately.
FAQ
Why does a grasped part stay in the air when the gripper rotates?
The tool may not be attached under the rotating gripper link, so the grasped component does not inherit the link motion through the component hierarchy. Attach the tool to Link1 and confirm grasping creates ComponentContainer behavior under the link.
Why does my Visual Components tool rotate but the part does not follow?
Check that the part is actively grasped and that the tool is a child of the rotating link. A rotating tool by itself does not confirm the component is being carried by the link.
How do I correct the gripper MountFrame orientation?
Unmount the tool, set the MountFrame rotations in Parent coordinates to zero, then remount it with the PnP tool. Verify the hierarchy and repeat a grasp-and-rotation test.