Pally has native integration for the Vention 7th axis, which are the following model:
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Note: There is no limit on how high the 7th axis can be, but if the robot cant reach the pick up position at all stages. The program will require dynamic positioning to work.
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Note: When using Vention V2 Make sure the URCap “MachineLogic for Universal Robots” v3.1.5 or newer is installed and configured. Vention provides this URCap.
Zero position
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The encoder zero position can be set to any position in the MachineLogic URCap. Make sure to select a zero position that is suitable for the entire calibration. Set the minimum and maximum stroke parameters according to how much the lifting column can go below- and above the zero position, see the rf_min_stroke and rf_max_stroke parameters. |
How to install the Vention 7th axis LIFT KIT on Pally:
Install the Vention Robot Cell URcap provided by Rocketfarm
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“Vention Robot Cell” or “MachineLogic for Universal Robots” URCap provided by Vention
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“Vention Robot Cell” v2.0.1 or newer “MachineLogic for Universal Robots” v3.1.5 or newer |
2. Choose Vention under Lifting Column > Type
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3. Type in the Maximum Stroke from the model you have, Controller Name and Driver Number. This will be the same as you configured in either the “Vention Robot Cell” or “MachineLogic for Universal Robots” URCap
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4. Pally will take care of the controlling of the lifting column. If you would like to control the lifting column in a custom way, please see the zones.json pagelink
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