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Pinch grippers are configured like other custom grippers by adding the length, width, height and weight. It's keep in mind that the TCP is configured correctly. Sometimes, when only one side moves, it may be necessary to change the TCP from one product to another. This can be easily accomplished by using an If statement at the beginning of the program to check which pattern is being used.
Gripper and TCP check
Example picture of code:
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Vertical exit is also needed when using a Pinch gripper. This can easily be added to the program by adding the following code to the initial moveJ. Change Release strategy to 2 will allow Pally to use vertical exits.
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