Gripper and TCP check

Owned by Csaba Mucsi
Last updated: Sept 11, 2023
2 min read

Pally supports a wide range of grippers, and some of them might have either position, rotation, or both offsets that must be taken into account when TCP is being configured. To verify the TCP settings are correct, perform the following steps:

 

  1. Move the robot to the calibrated pickup position. 

  2. Now go to the Move tab, and select "Tool" in the drop-down called "Feature". (see below image)

  3. Press the Y- arrow button and the gripper should move parallel to the conveyor and in the direction where boxes arrive from. 

  4. Press the Y+ button, and the gripper should move back to the end of the conveyor. 

  5. When the gripper is above the box on the pickup position, press the RZ+ and RZ- buttons: the gripper should rotate around its own center point and not around the robot tool flange. Rotating by 180 degrees, the gripper should remain perfectly above the center of the box at the pickup position.

 

 

Note: The conveyor direction is calculated directly from the Y-axis of the tool coordinate system at the pickup position, as shown in the following illustration.

Box arrival direction corresponds to Y+ in the tool coordinate system if TCP is correct.

 

If you are still uncertain about the TCP settings, consider running the calibration test wizard.