With Pally you can use the gripper best suitable to you for your project. Select the best option for you in the dropdown lists.
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Custom gripper
Select this alternative if the gripper is not a vacuum suction gripper.
Custom Vacuum Gripper
Select this alternative if the gripper is not in the native supported list and is a vacuum gripper.
Schmalz FXCB - Foam
Select this alternative if the gripper is the Schmalz FXCB with foam and is not mounted with an extra offset.
Note: In order to get reliable feedback from the vacuum sensor, you need to configure the SP2 and rP2 values according to the gripper manual
Schmalz FXCB - Suction cups
Select this alternative if the gripper is the Schmalz FXCB with suction cups and is not mounted with an extra offset.
Note: In order to get reliable feedback from the vacuum sensor, you need to configure the SP2 and rP2 values according to the gripper manual
Unigripper Co/Light Regular
Select this alternative if the gripper is the Unigripper Co/Light Regular and is not mounted with an extra offset.
Piab CPT grippers
Available in New Pally release v2.12.
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https://www.piab.com/news/piabs-new-cobot-palletizing-tool-cpt-helps-get-more-pallets-out-per-day/
Import from gripper.json
Read more about gripper.json here: Import from gripper.json