Pally Module - Gripper

Owned by Roger Almaas
Last updated: Sept 02, 2024
3 min read

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.

 

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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.

 

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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