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This article is written for Pally module Module for Doosan cobot |
To make a palletizer program, you’ll need to open the Task Editor.
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From the Pally Module you have two different nodes:
Init Pally (optional)
Get access to the Pally context (variables) and set up your callbacks
Run Pally (required)
Configure the maximum speed and acceleration for Pally
Init Pally program node
This node is optional. You can configure callbacks and get access to the Pally context via this node.
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pick_signals = [ [1, 1] ] drop_signals = [ [1, 2] ] vacuum_sensor = [1, 1]
Here is an expample on how to add callbacks
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