Figure 18
: Make sure TCP is configured properly.
Pally supports a wide range of grippers, and some of them might have either position,
rotation, or both offsets that must be taken into account when TCP is being configured. To
verify the TCP settings are correct, perform the following steps:
● Move the robot to the pickup position.
● Now go to the Move tab, and select "Tool" in the drop-down called "Feature".
● Now press the Y- arrow button and the gripper should move parallel to the conveyor
and in the direction where boxes arrive from, i.e towards box 2.
● 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 and not around the
robot tool flange. Rotating by 180 degrees, the gripper should remain perfectly above
the center of the box at the pickup position.
Note:
Setting the TCP properly is essential for multi-pick and other path planning
calculations.
5.1.4 - Lifting column
Ignore the following steps when using the lifting column with
Version 2.9.1
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