SETUP GRIPPER SCREENS


SETUP GRIPPER SCREENS

1. SETUP GRIPPER SCREEN

Table 1.  SETUP Gripper Screen Items

ITEM DESCRIPTION

Gripper Name

This item specifies the kind of gripper you are using. Each kind of gripper has a number designation. This menu item allows you to configure whatever gripper you select, but it does not change the current gripper for the unit load you are running. If you want to change the current gripper for the unit load that you are running, you must use the SETUP Optimal Path menu.

Weight

This item specifies the weight of the gripper in kilograms (kg). By default, PalletTool will use 75% of the maximum payload of the robot for gripper weight. The gripper weight specified here will be used by PalletTool to automatically set the value of PAYLOAD schedules 1 and 2 during the pick and place cycles in the TP programs. The gripper weight is combined with the part weight which is entered in the unitload setup menu to set the proper value for the payload. If you enter the proper gripper weight, then you will realize good cycle times and better performance from the Collision Guard function. This item is new in R-30iA controllers and is available from version V7.70P/20 onwards.

Number of Cases

This item specifies the number of case settings required for the selected gripper, where single gripper = 1, double gripper = 2, and so forth.

Use as multi—case

This item is available only for custom grippers. When the item is FALSE, then you must specify the proper UTOOL values for the gripper as required by custom grippers. They will be used unchanged by PalletTool. When this item is TRUE, then you can use the custom gripper as a multi-case gripper. This means that the UTOOL values are automatically calculated based on box dimensions just like with standard multi-case, single, double or triple grippers.

This item is available only from HandlingTool version V8.30P/19 and higher.

Utool setup

For vacuum grippers , this item specifies the position (location and orientation) of the gripper tool center point in x, y, z, w, p, and r. Do not change the value of x, y, w, p, or r for standard grippers. However, you might need to change the value of z. The value of z should be the distance (in mm) from the faceplate of the robot to the gripping surface of the gripper.

Part at gripper

This item specifies the value of each input for each gripper, only for the part presence condition.

Table 2.  PalletTool Gripper Designations

Gripper ID

Gripper Name

1

Single

3

Double ICC

5

Triple Case

6

Custom 1

7

Custom 2

8

Custom 3

9

Custom 4

10

Multi-case (optional)

11

Fork/Bag 1 (optional)

12

Fork/Bag 2 (optional)

13

Servo Hand


Note

Gripper IDs 2 and 4 (double gripper and clam shell) were supported in previous versions of PalletTool. These gripper IDs are not supported in PalletTool V4.21 or later.

2. UTOOL DETAIL SCREEN

Table 3.  UTOOL DETAIL Screen Items

ITEM DESCRIPTION

UTOOL

This item is the number of the selected UTOOL.

X, Y, Z, R

These items are the UTOOL coordinates that you can modify.

3. GRIPPER DETAIL SCREEN

Table 4.  Gripper DETAIL Screen Items

ITEM DESCRIPTION

CASE #

This item is the number of the selected gripper.

PORT #

This item is the output type.

VALUE

This item is the polarity of the output.

DELAY

This item is the delay in milliseconds of a pulsed output.

4. PART AT GRIPPER DETAIL SCREEN

Table 5.  Part at Gripper DETAIL Screen Items

ITEM DESCRIPTION

CASE #

This item is the number of the selected gripper.

PORT #

This item is the input type.

VALUE

This item is the polarity of the input.