# End Effector preset

# Description

This preset defines the gripper installed on the robot, whose purpose is to handle the products to be palletized.

# Types

# Async Tool

# Sync Tool

# Vacuum Tool

# Fork Tool

# Servo Fork Tool

# Bag Tool

# Variable assignment

Preset variables vary depending on the selected End Effector Tool type.

# Variables

# Name

Name assigned to the installed gripper.

# Type

Defines the selected gripper type.

# Zone Count

If the gripper has more than one zone (capable of holding and placing products separately within a single placement cycle), define how many zones it has.
Maximum number of zones is 8.

# Length

Gripper length in millimeters.
If the gripper has multiple zones, enter the total length.

# Length Zone N

Length of zone N along the total length, in millimeters.
One additional field is shown per defined zone.

| | |

# Anchor Angle 📐⚓

Installation angle of the gripper relative to the robot flange, in degrees.

# Center Offset 🎯

Distance between the robot flange center and the fixed surface of the gripper, in millimeters.

| | |

# Finger Length 📏🖐️

Length of the gripper fingers, in millimeters.

# Max Stamper

Maximum stamper height, in millimeters.

# Min Stamper

Minimum stamper height, in millimeters.