PalletTool 3 - Determining the UTOOL Values for Custom Grippers

In this tech short, we will go over how to determine the correct UTOOL values for Custom Grippers when working with PalletTool 3. Setting up Custom Grippers requires additional setup because PalletTool does not automatically calculate offsets for these tools. That’s why understanding how to manually configure UTOOL values is essential for accurate and efficient operation.
We will start by clarifying what qualifies as a Custom Gripper in PalletTool 3 and why these grippers require manual input. You’ll learn how disabling “Automatically Calculate Tool Frame” gives you full control over X and Y offsets, allowing for precise positioning when your gripper is offset from the robot’s faceplate. We will also touch on when it makes sense to use a Standard Gripper instead, as this can simplify setup for certain applications.
Next, we will walk through the process of determining Z and R offsets, followed by measuring X and Y offsets using PalletPRO or on a real robot. You’ll see how to position the robot correctly, identify zone locations, and apply the right-hand rule for orientation. Finally, we will cover entering these measured values into PalletTool 3 for each zone in your gripper setup.

Requirements:

• Access to PalletTool 3 and the gripper setup interface
• Ability to jog the robot to joint zero position
• Measurement tools in PalletPRO or equivalent on the robot

What you will learn:

• How to identify custom grippers in PalletTool 3
• Steps to disable Automatic Tool Frame calculation
• Methods for determining Z and R offsets
• How to measure and enter X and Y offsets for each zone
• Best practices for handling single-zone and multi-zone grippers

By the end of this session, you’ll have the knowledge to confidently configure UTOOL values for Custom Grippers, ensuring accurate palletizing and improved flexibility in your automation setup.