Any gripper can be used together with Pally, but it is important to mount the gripper in the correct way.
The 8-pin tool connector(wrist3) should be pointing upwards the conveyor when the gripper is mounted to the robot.
Please see examples further down.
It is recommended to mount the gripper onto the robot so that the tool connector faces the same direction as the conveyor when picking boxes.
Example 1:
Example 1 Gripper dimensions: 300x130x131
Example 1 gripper dimension input:
Length: 300
Width: 130
Height: 131
Example 2
Example 2 Gripper dimensions: 265x150x101
Example 2 gripper dimension input:
Length: 150
Width: 265
Height: 101
Test if you have mounted the gripper correctly and TCP setting is OK: