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This article is written for Pally module 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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before the runPally command in the Task Editor.
License
Currently there is no real license generator implemented. However you will get a dummy license file when you generate the license request. Just go to the License tab and press “Generate license request”. This will generate and save the license request and the license (note: “save as” dialog appears twice)
Pally Operator Panel Bugs
There is currently some bugs with the Pally Operator Panel. We are working hard to fix these issues.
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The program has to be started while on the Pally Operator Panel Module. Use the “Play” button in the footer to start the program.
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.