For all grippers, the vectors for t

For all grippers, the vectors for the primary TCP and the auxiliary tools are also available in the CAD model. Preferably, centering pins or points should be used with reorientation on a process-specific basis. The primary TCP should be designed such that the manual method (reteach) does not require an auxiliary TCP. Because of the individual geometric conditions involved, it is not possible to make any general definition here regarding position and orientation of the TCPs. Therefore, the definition applies here that the contractor, after finishing the gripper design, defines the number and position or the orientation of the gripper with the Daimler Robot Project Team using the CAD model. The contractor must contact the Daimler Robot Project Team to make this definition without being requested to do so.