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The first thing to do is set up the hardware you will use for the installation.

This is done in Hardware as seen in the picture below

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You can choose the nativelly integrated grippers, or you can chosse a custom gripper.

Integrated Grippers

If you chosse a nativelly integrated gripper we have already set the dimensions for the gripper.

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To set the TCP when you choose a integrated gripper, you choose the PallyTCP in the tool meny.

Custom grippers

If you want to use another gripper, that is not on the list of integrated grippers, you choose custom and then you choose the type of custom gripper.

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Import from gripper json - You can create your own completelly customized gripper by utilizing the gripper json feature. Read more about it in this article - Gripper JSON file format

Dimensions

You only need to set the dimensions if you use a gripper that is not on the integrated grippers list

Lenght is the same direction as the X2

Offset

Here you can choose if the gripper is mounted directly on the robot, or if you have used a mounting bracket.

TCP

Go to Tool on the top meny and set the correct TCP offset according to your gripper and mounting.

If you have choosen a integrated gripper from the list, this values are already filled in and you only choose PallyTCP

Vacuum I/O’s

Here you set the I/O’s for Vacuum, Blow and Vacuum lost

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