# End Effector Node

# Descripction

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

# Types

# Asynchronous Tool (Async Tool)

# Synchronous Tool (Sync Tool)

# Vacuum Tool

# Fork Tool

# Servo Fork Tool

# Bag Tool

# Node connection

# Assignment of variables

The variables of this node will be modified according to the type of End Effector Tool selected.

# Variables

# Name

Name assigned to the installed hand.

# Type

Defines the type of gripper selected.

# Length

Length of the gripper. Expressed in millimeters.

# Anchor Angle 📐 ⚓

Angle of gripper installation with respect to the robot attachment flange. Indicated in degrees.

# Center Offset 🎯

Clearance distance between the center of the mating flange and the fixed surface of the gripper. Indicated in millimeters.

# Finger Length 📏 🖐️

Length of the fingers of the hand, indicated in millimeters.

# Max Stamper

Maximum height of the tamper. Indicated in millimeters.

# Min Stamper

Minimum tamper height. Indicated in millimeters.