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When installing Pally and rePally on the same robot, make sure the Daemon Port Number settings for the pallet manager daemon are different. The daemon processes will fail to start if the port numbers are identical.
It is technically possible to install different versions of Pally and rePally on the same robot, however, some unknown compatibility issues may occur.
Calibration
The calibration process is similar to Pally. However, there are some differences to be considered.
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When calibrating the pick position, : make sure that the gripper foam is slightly pressed against the box surface.
When calibrating the drop position, : make sure that the boxes will not collide with the conveyor. Leave a small gap between the gripper foam and the box surface during calibration.
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This is for developers only. |
cat 7632.dual.UR.Sample script to convert Pally.urp:
cat Pally.urp | gunzip | sed 's/installation=\"/installation=\"rePally./g' | sed 's/installationRelativePath=\"/installationRelativePath=\"rePally./g' | sed 's/\"Pally\"/\"rePally\"/g' | sed 's/\.palletmanager\.Palletizer/\.repalletizer\.Repalletizer/g' | sed 's/\.palletmanager\.UserCallback/\.repalletizer\.UserCallback/g' | gzip > rePally.7632.dual.UR.urpurp
Sample script to convert default.installation:
cat default.dual.installation | gunzip | sed 's/fileName=\"/fileName=\"rePally./g' | sed 's/\"Pally\"/\"rePally\"/g' | sed 's/palletmanager/repalletizer/g' | sed 's/PalletManager/Repalletizer/g' | gzip > rePally.default.dual.installationinstallation
Please note: replace the file names in the scripts to your own file names accordingly.