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Only one side moves
Not leaving enough room for gripper
Vertical exit needed
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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TCP issues
Setting up the pattern
To create the pattern, it is suggested to use an inverted approach. (see picture below) This enables Pally to begin working from the side closest to the robot and move outwards, ensuring that the gripper always has enough space to open.
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You can also use the “Customize box index” to arrange the boxes the way you want them, to ensure you always have free space to open the pich gripper. See picture below
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To prevent collisions, it is suggested to lock the boxes. (see picture below) This will ensure it is always placed in the same positions. To make this easier to visualise, enable Lable orientation; this will show you how the boxes are facing.
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Vertical Exit
Vertical exit is also needed when using a Pinch gripper.
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Vertical exit is active only if bit 6 2 is set in the rf_release_strategy variable. Read more about release strategy here - Release Strategy
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rf_release_strategy = 6 |
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You can also use the “Customize box index” to arrange the boxes the way you want them, to ensure you always have free space to open the pich gripper. See picture below
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To prevent collisions, it is suggested to lock the boxes. (see picture below) This will ensure it is always placed in the same positions. To make this easier to visualise, enable Lable orientation; this will show you how the boxes are facing.
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TCP issues
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.
In the following example, the TCP X-offset is the distance from the tool flange to the box center point. TCP Z-offset is the distance from the tool flange to the top of the box.
The clamp offset refers to the distance between the tool flange and the fixed clamp.
When picking, it might be necessary to keep a small distance between the fixed clamp and the box. The push offset indicates this distance.
The following sample code is provided for reference.
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Example picture of code:
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Important steps:
include the script “PinchGripperTools” in the initial MoveJ node under the Pally node
set rf_gripper_align_to_edges = False
set rf_foam_height=ProductHeight in the onNextTask callback
call ApplyTCP() in beforePallet and beforeZone
call CustomMoveBeforeGrab() in the beforeGrab callback (apply push offset)
call CustomMoveAfterGrab() in the afterGrab callback (lift up vertically)
See also Gripper and TCP check