| Info |
|---|
After uploading a Gripper JSON file to Pally you can use the Gripper layout visualizer feature (Pally URcap 3.2 or newer) This will help you get the gripper settings correct. You can also use the Gripper and tcp check in the PAlly URcap to test if the Gripper is correct. |
| Table of Contents |
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The vacuum zone manipulator
...
Lengths are specified in millimeters, weight in kilograms.
| Info |
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Currently we do not support the vacuum lost signal in gripper.json. |
Every time you make changes in the gripper json file, make sure to:
verify the correct syntax in a online tool like https://jsonformatter.org/
upload the file again with the same name (must be gripper.json)
select another gripper type e.g. custom gripper, and then
select “import from gripper.json” again
check the timestamp of last import has changed under the drop-down menu
make sure there is no other (probably older) gripper.json file in the “patterns” folder.
The current Pally URCap reads both locations for compatibility reasons:
/programs/patterns
/programs
The gripper.json file
| Code Block |
|---|
{
"name": "4-channel gripper",
"description": "test gripper for multiple product sizes",
"dimensions": {
"width": 100,
"length": 200,
"height": 100,
"weight": 1.85,
"foamHeight": 15
},
"properties": {
"coveragePercent": 40,
"edgeAlignment": false
},
"tcp": [0, 0, 100, 0, 0, 0],
"cog": [0, 0, 0],
"zones": [
{
"id": 1,
"x": 0,
"y": -50,
"width": 100,
"length": 100,
"grip": {
"type": "standard",
"channel": 0,
"inverse": false
},
"release": {
"type": "standard",
"channel": 1
}
},
{
"id": 2,
"x": 0,
"y": 50,
"width": 100,
"length": 100,
"grip": {
"type": "standard",
"channel": 2
},
"release": {
"type": "standard",
"channel": 3
}
}
],
"configurations": [
[1,2], [1], [2]
]
} |
...
| Code Block |
|---|
{
"name": "4-channel gripper",
"description": "test gripper for multiple product sizes",
"dimensions": {
"width": 400,
"length": 200,
"height": 150,
"weight": 1.9,
"foamHeight": 15
},
"properties": {
"coveragePercent": 51,
"edgeAlignment": false
},
"tcp": [0, 0, 150, 0, 0, 0],
"cog": [0, 0, 0],
"zones": [
{
"id": 1,
"x": 0,
"y": 0,
"width": 110,
"length": 180,
"grip": {
"type": "standard",
"channel": 0,
"inverse": false
},
"release": {
"type": "standard",
"channel": 1
}
},
{
"id": 2,
"x": -110,
"y": 0,
"width": 50,
"length": 180,
"grip": {
"type": "standard",
"channel": 2
},
"release": {
"type": "standard",
"channel": 3
}
},
{
"id": 3,
"x": 110,
"y": 0,
"width": 50,
"length": 180,
"grip": {
"type": "standard",
"channel": 4
},
"release": {
"type": "standard",
"channel": 5
}
},
{
"id": 4,
"x": 0,
"y": 0,
"width": 380,
"length": 50,
"grip": {
"type": "standard",
"channel": 6
},
"release": {
"type": "standard",
"channel": 7
}
}
],
"configurations": [
[1,2,3,4], [4], [1,2,3], [1,2], [2,3], [1], [2], [3]
]
}
|
...