Depalletizing Vacuum Gripper

This section introduces how to configure depalletizing vacuun grippers.

Configuration Process

You can configure both single-block suction cups and multi-block suction cups. However, for multi-block suction cups, the rectangular blocks should be of the same size and arranged in a single row.

Configuration Process

  1. Configure the suction cups structure.

    1. Set the Number of Blocks according to the number of blocks of the actual suction cup. If multiple blocks share the same DO signal, the blocks can be viewed as a whole, and you can set the number of blocks to 1.

    2. Set the Spacing according to the actual interval between the blocks.

    3. Set the Block length and Block width according to the actual suction cup size.

    4. Set Buffer Thickness, which is attached to the plane where the TCP is located.

  2. Set the Angle parameter according to the TCP settings in the tool configuration window.

  3. Set the DO/DI active value parameter according to the actual situation.

  4. Configure DI Check Point

    1. Click + to add a new DI check point. By default, the DI is 0, and the check point is at the center of the suction cup.

    2. Modify the value of X and Y or drag the check point to adjust the position of the pick point.

    3. Modify the DI parameter to change the ID of the check point.

    ../../_images/check_point.png

    If you want to delete a check point, select it and click icon_delete.

  5. Configure the corresponding DO Value according to the control port number of each suction cup block.

  6. Select File ‣ Save to save the vacuum gripper configuration to the corresponding tool.

Export the Vacuum Configuration File

Select File ‣ Export to store the configuration file to a specified path.

Import the Vacuum Configuration File

Select File ‣ Import to import the vacuum configuration file.