Using a pinch gripper with Pally is possible, but it requires some adjustments. Here are some helpful tips and things to keep in mind when using
Common challenges overview
Only one side moves
Not leaving enough room for gripper
Vertical exit needed
Pinch grippers are configured like other custom grippers by adding the length, width, height and weight. It's keep in mind that the TCP is configured correctly. Sometimes, when only one side moves, it may be necessary to change the TCP from one product to another. This can be easily accomplished by using an If statement at the beginning of the program to check which pattern is being used.
Gripper and TCP check
Example picture of code:
Vertical exit is also needed when using a Pinch gripper. This can easily be added to the program by adding the following code to the initial moveJ. Change Release strategy to 2 will allow Pally to use vertical exits.
rf_release_strategy= 2
Setting up the pattern
To create the pattern, it is suggested to use an inverted approach. (see picture below) This enables Pally to begin working from the side closest to the robot and move outwards, ensuring that the gripper always has enough space to open. To prevent collisions, it is suggested to lock the boxes. (see pøicture below) This will ensure it is always placed in the same positions. To make this easier to visualise, enable Lable orientation; this will show you how the boxes are facing.
