This article is written for Pally Module for Doosan cobot
Workpiece weight
Do not use heavy boxes with this version. 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.
Workaround
A current workaround which is not properly tested, and has its clear limitation is to define tool presets.
Currently there are 5 different hard-coded tool names that should be added for this workaround.
Tool name | Weight |
|---|---|
empty | < 3 kg |
light | Between 3 and 8 kg |
medium | Between 8 and 13 kg |
heavy | Between 13 and 18 kg |
max | Above or equal to 18 kg |
to use this you need to set the Pally variable set_weight_workaround to True
If your Global pally context variable is named Global_pally_context add a custom code command with
Global_pally_context.set_weight_workaround = True
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.
The program has to be started while on the Pally Operator Panel Module. Use the “Play” button in the footer to start the program.
First time you start Pally and confirm the pallet, POP automatically returns to the waiting screen. Restart the program and it should work fine.