This article is written for Pally Module for Doosan cobot
Lifting column is not supported with this first version of the Pally Module
Start by setting up the gripper you intend to use. Choose Gripper and Mounting in the meny on the left side. You can move between the different steps with this meny, or use Next or Previous buttons in the bottom right corner.
We recommended to mount the gripper onto the robot so that the X2 tool connector faces down the conveyor.
You can choose the nativelly integrated grippers, or you can chosse a custom gripper.
Integrated Grippers
If you chosse a nativelly integrated gripper we have already set the dimensions for the gripper.
To set the TCP when you choose a integrated gripper, you choose the PallyTCP in the tool meny.
Custom grippers
If you want to use another gripper, that is not on the list of integrated grippers, you choose custom and then you choose the type of custom gripper.
Custom gripper - Here you can set the dimensions and tcp values of your gripper yourself
Custom vacuum gripper - Here you can set the dimensions and tcp values for the gripper yourself.
Import from gripper json - You can create your own completelly customized gripper by utilizing the gripper json feature. Read more about it in this article - Gripper JSON file format
Dimensions
You only need to set the dimensions if you use a gripper that is not on the integrated grippers list
Lenght is the same direction as the X2
Offset
Here you can choose if the gripper is mounted directly on the robot, or if you have used a mounting bracket.
TCP
Go to Tool on the top meny and set the correct TCP offset according to your gripper and mounting.
If you have choosen a integrated gripper from the list, this values are already filled in and you only choose PallyTCP
Vacuum I/O’s
Here you set the I/O’s for Vacuum, Blow and Vacuum lost
