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This article is written for Pally Module for Doosan cobot |
Workpiece weight
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| Info |
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If you do not have the Dr.Dart-Platform version 3.3.0 or higher, Pally will not be able to update payload while running. Then you need to use the below workaround. |
Do not use heavy boxes with this versionlower versions. The function set_workpiece_weight is not implemented and the robot will most likely stop with protective stop when trying to lift heavy boxes.
Please also make sure the tool weight and TCP settings are correct. The program will not update these values.
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Workaround
A current workaround which is not properly tested, and has its clear limitation is to define tool presets.
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