Pally General - Grippers
Pally can handle all grippers suitable for palletizing, both pneumatic and mechanical grippers.
You can use your own customized gripper, or you could choose from a variety of pre-loaded off-the-shelf grippers.
We recommend using a pneumatic gripper with automatic vacuum detection.
Native supported grippers in Pally
By using one of the grippers below, you will be able to save time, because they are natively integrated in Pally. This means that all dimensions and the TCP are already set after choosing it in Pally.
Unigripper Co/Light
Unigripper Co/Light Mini
LxWxH | Weight |
|---|---|
150x112x99 mm | 0,9 kgs |
Unigripper Co/Light Regular
LxWxH | Weight |
|---|---|
265x150x101 mm | 1,8 kgs |
Unigripper Co/Light Maxi
LxWxH | Weight |
|---|---|
370x270x106 mm | 3,9 kgs |
Schmalz FXCB
Schmalz FXCB foam
LxWxH | Weight |
|---|---|
300x130x131 mm | 2,0 kgs |
Schmalz FXCB suction cups
LxWxH | Weight |
|---|---|
297x123x158 mm | 2,2 kgs |
Piab CPT
CPT 300, foam
LxWxH | Weight |
|---|---|
330x140x104 mm | 1,94 kgs |
CPT 300, suction cups
LxWxH | Weight |
|---|---|
330x140x112 mm | 2,09 kgs |
CPT 400, foam
LxWxH | Weight |
|---|---|
400x140x104 mm | 2,09 kgs |
CPT 400, suction cups
LxWxH | Weight |
|---|---|
400x140x112 mm | 2,33 kgs |
CPT 500, foam
LxWxH | Weight |
|---|---|
500x140x104 mm | 2,29 kgs |
CPT 500, suction cups
LxWxH | Weight |
|---|---|
500x140x112 mm | 2,56 kgs |
Custom vacuum Gripper
You can easily use any other vacuum gripper with automatic vacuum detection. You just set dimensions, weight, TCP and COG yourself.
TCP check
Setting the TCP can sometimes be tricky. To verify that the TCP settings are correct, you can perform the following steps:
Move the robot to the calibrated pickup position.
Go to the Move menu, and select Tool or TCP.
Press the Y- arrow button, and the gripper should move parallel to the conveyor and in the direction where boxes arrive from.
Press the Y+ button, and the gripper should move back to the end of the conveyor.
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. Rotating by 180 degrees, the gripper should remain perfectly above the center of the box at the pickup position.
Gripper layout visualizer
When using the custom gripper feature, especially with the gripper JSON file, it can be useful to see how the robot sees the gripper.
Press the Show Layout button in the gripper menu to get a graphical representation of how the robot program will use the gripper. This will help troubleshoot typical configuration mistakes in TCP and dimensions.
The calculated layout will appear in a new pop-up:
The overall size of the gripper will appear as a gray rectangle
Each vacuum zone will appear as a colored rectangle (only available with gripper.JSON)
Each rectangle will appear with an X showing the center point of the corresponding rectangle
The tool flange appears relative to the gripper with respect to the current TCP position/rotation offsets