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Pally has built-in routines for monitoring errors in the robot position, which may occur due to sudden changes in the payload. During picking and releasing boxes with a vacuum gripper, the program can automatically adjust the delays between switching the vacuum valve(s) and updating the payload weight and center of gravity on time. This can significantly reduce the occurrence of unexpected protective stops at the pick and drop positions without affecting robot safety requirements.
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Note: This function may introduce small delays when picking and releasing boxes.
The following Pally variables are provided for fine tuning the robot stabilization engine.
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