In this tech transfer short, we will go over how to correctly set UTOOL values for standard grippers when working with PalletTool 3. This session is designed to help you understand the essential steps for configuring grippers so your palletizing process runs smoothly and accurately.
We begin by defining what qualifies as a standard gripper in PalletTool 3. You will learn which gripper types allow PalletTool to automatically calculate X values for UTOOLs based on box size and the number of boxes the gripper handles. These include vacuum single, double, triple, and multi-case grippers, along with custom grippers that have Automatically Calculate Tool Frame enabled. We will also clarify when a gripper should be treated as custom gripper and why that matters for setting the X and Y UTOOL values.
Next, we will cover how to measure the Z offset for your UTOOL. You will see how to select the correct gripper type in the PalletTool interface and identify the Z axis value. We will demonstrate the best way to measure from the robot faceplate to the top of a box while vacuum is on, ensuring you account for compression of suction cups or foam during picking. This step is critical for achieving accurate tool height in real-world conditions.
Finally, we will go over determining the R offset. You will learn how to use a joint zero position to check gripper orientation and predict how it will align with the conveyor during picking. If the orientation does not match your requirements, we will show how to apply an R offset to achieve the desired alignment. We will also explain how zone settings propagate UTOOL values when Automatically Calculate Tool Frame is enabled, simplifying the setup process.
Requirements to follow along:
- Access to PalletTool 3 and the System Setup tab
- A standard gripper mounted centered on the faceplate
- A sample box and ability to activate vacuum for accurate measurement
- Optional use of PalletPRO for validation
What you will learn:
- How to identify standard grippers and when to configure manually
- How to measure and enter an accurate Z offset
- How to determine and apply the correct gripper R offset for proper orientation
- How zone propagation works for UTOOL values
This video will help you configure UTOOL values with confidence, ensuring your palletizing cell operates efficiently and reliably.
