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You can select different gripper orientations at pickup to have better reach for the box onto the palletIn order to get better reach or performance, the program can automatically recalculate and use the gripper rotated by +90, -90, 180 degrees at the pickup position. This may be necessary to reach the pallet corners or avoid collision with the base frame.

The allowed rotations can be configured. You can instruct the optimizer to enforce the default orientation, choose between forward and backward, or choose between forward, backward, left, or right. Pally will calculate the best optimize optimized grip for each box, if enabled.

Optimize gripper options: NONE - 2-WAY - 4-WAY

Visual representation of the different gripper rotations at pickup

Gripper optimization settings can be selected in Program / Pally / Advanced / Path planning

None: forward (the gripper direction at the calibrated pick position)

2-Way: InFront forward and InBackbackward

4-Way: InFront forward, backward, InLeftleft, InBack and InRightright

Visual representation of the different optimize gripper options

InfoNote: InFront should be the calibrated orientation (this exampleGripper optimizer can be configured in run-time via the variable rf_grip_rot, which is an array of 5 elements.

• The first element is the number of allowed rotations n,

• The next n elements are the allowed rotations in degrees.

Example:

rf_grip_rot = [3, 0, -90, 90, 0]

This will tell the optimizer to choose a gripper rotation between forward, left, and right (backward is not allowed)