| 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. |
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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:
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| Code Block |
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{
"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]
]
}
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