Gripper configurator
Use the graphical gripper configurators to easily generate gripper.json files that enable you to use custom and mechanical grippers with Pally.
Custom Vacuum gripper
This configurator creates a gripper.json file that is compatible with Pally for both Polyscope 5 and Polyscope X.
Here you can create the gripper json file that you use in Pally for your custom made gripper with multiple vacuum zones. Using the gripper configurator helps with the quality assurance, ensuring that the handling of the custom gripper is correct.
In General you set the name of the gripper as well as the overall dimensions, weight, and height of the suction cups/foam.
You also set whether the gripper should use edge alignment or always pick in the center of the product, and you set the coverage percentage.
In TCP & COG you set the TCP and COG for the gripper. You will always see in the 3D view how the robot perceives the gripper.
In Vacuum zones you set the different vacuum zones, dimensions, position and I/O’s to control them.
You also set the different combinations on how to use them.
When you have completed the configurator, you can export the json file and upload it to Pally, and you are ready to palletize with your gripper of choice.
Mechanical clamp gripper
This configurator creates a gripper.json file that is only compatible with Polyscope X and the use of Pally programs. It can not be used together with patterns.
The purpose of this configurator is to create a gripper json file that enables Pally to use a clamp gripper and automatically adjust pickup according to box sizes. The gripper json file is downloaded from MyRobot.cloud and uploaded to Pally in the custom gripper menu. There are 3 steps in the configurator
Step 1, you set the dimensions and mounting, and you can check the product dimensions.
Step 2, you set a position for a product with 0,0,0 dimensions as the TCP input. We use this to calculate the actual TCP according to product dimensions. You also set COG for the gripper.
Step 3, You set the Gripper signals for opening and closing the gripper
General
First, you set dimensions; Lenght, Width and Height. It is important that the tool connector is pointing down the conveyor when mounting the gripper. There are two ways of arranging the gripper and lenght and width differ according to contact position.
If the contact position is front, then the gripper grips the product over the Length of the product, and the fixed side of the gripper has contact with the front of the product.
Length equals the total length of the gripper when it is open. Width equals the total width of the gripper, not just the width of the gripping part. Height equals the totalt height of the gripper, including any mounting bracket. See the picture below.
If the contact position is left or right, then the gripper grips the product over the Width of the product, and the fixed side of the gripper has contact with the left or right side of the product.
Width equals the total length of the gripper when it is open. Length equals the total length of the gripper, not just the length of the gripping part. Height equals the total height of the gripper, including any mounting bracket. See the picture below.
Fixed height is the distance from the contact point to the robot arm and down to the “roof” of the clamp gripper.
Fixed offset is the distance between the center of the robot connection and the fixed side of the clamp gripper
Fixed paddle width is the thickness of the fixed side of the gripper.
Contact position defines what side of the product is in contact with the fixed side of the clamp gripper when the robot has the tool connector pointing down the conveyor.
You can also check the product dimensions with the gripper to see if it fits your gripper dimensions
TCP & COG
First, you need to set the position on the gripper where a product with dimensions 0,0,0 will be placed while gripping it as the TCP. We use this position to calculate the TCP according to the dimensions of the product handled by the clamp gripper. The position will be at the end of the fixed side, see the picture below.
X and Y will be according to the Tool connector on the robot, and you can see the coordinate system as it looks when the tool connector is pointing down the conveyor in the picture below.
Next, you need to set COG when the gripper is open and when it is closed.
Gripper signals
Set the correct I/O’s to control the opening and closing of the clamp gripper.
Mechanical fork gripper
This configurator creates a gripper.json file that is only compatible with Polyscope X and the use of Pally programs. It can not be used together with patterns.
General
A fork gripper can only pick the product from the left or right, so Length and Width are the same for both contact positions. Notice that the width of the gripper equals the width when the fork is completely extracted. See the picture below.
Fixed height is the distance from the contact point to the robot arm and down to the “roof” of the fork gripper.
Fixed offset is the distance between the center of the robot connection and the fixed side of the fork gripper
Contact position defines what side of the product is in contact with the fixed side of the fork gripper when the robot has the tool connector pointing down the conveyor.
TCP & COG
First, you need to set the position on the gripper where a product with dimensions 0,0,0 will be placed while gripping it as the TCP. We use this position to calculate the TCP according to the dimensions of the product handled by the clamp gripper.
Z value will be the distance between robot connector and down to where the box rests on the fork.
Y value is typically 0.
X value is positive with left contact side, and negative with right contact side
Next, you need to set COG when the gripper is open and when it is closed.
Gripper signals
Set the correct I/O’s to control the opening and closing of the fork gripper.