Gripper variables

Name

Description

Reference

rf_gripper_width

Gripper width in meters

Installation / Gripper / Dimensions

rf_gripper_length

Gripper length

Installation / Gripper / Dimensions

rf_gripper_height

Gripper height

Installation / Gripper / Dimensions

rf_gripper_weight

Gripper weight in kg

Installation / Gripper / Dimensions

rf_grip_rot

Gripper optimization at pickup

Program / Advanced / Path planning / Optimize gripper at pickup

Default: [4, 0, -180, -90, 90]

rf_max_grip

Maximum number of boxes in multi-pick

Default: number of product-sensors installed

rf_grip_delay

Delay after turning on the gripper at pickup, in seconds

Default: 0.1

rf_grip_release_delay

Delay after turning off the gripper at target

Default: 0.2

rf_foam_height

Gripper foam (suction cup) squeezing length in meters

Default: 0.02

rf_gripper_align_to_edges

Gripper-to-box edge alignment.

Default: True

Setting the value to False can be relevant for some custom grippers e.g. pinch grippers. Setting the value to False may cause accidental multipick of small boxes with large vacuum gripper.

Available from Pally 3.2.