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
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.
Example picture of code:
To create the pattern, it is suggested to use an inverted approach. 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. 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.
Changing box order can only be done on the older version of the pallet builder.To access version 1.0.0 in the pallet builder, simply click on the version button.
1. Afterwards, head over to the patterns and press edit. you can reorder the boxes according to your preference. It's easy to set a specific number for each box.
2. Here you can reorder the boxes according to your preference. It's easy to set a specific number for each box.
