Pally FAQs / How-To-Guidelines
- Mathias Flo (Unlicensed)
- Roger Almaas
Q: What is the typical installation/setup time on Pally Software?
A: Typical installation time is between 1-3 hours.
Q: Do I need any training before installing the Pally software?
A: The installation wizard in the URcap is self explanatory. We recommend at least to shim through the Pally manual to understand all it’s features. If required we will arrange a training session for your team. Technical training is a mandatory part of the Partner Onboarding.
Q: Will I be able to include my own code and movements with Pally?
A: Yes, Pally has an powerful feature called Callbacks. Here you can add your own custom code, movements, shim paper, controlling other machines etc. See the Pally manual on page 13.
Q: Do you offer support on the software?
A: Yes. Rocketfarm supports partners when customers have questions or are in need of support for their Pally powered robot. Response time within 24 hours. An active Pally Package Plan will give access to developer tech support. 165 EUR/USD per hour to help to identify whether a system failure is caused by Rocketfarm software or other components of the system; if RF/Pally-caused issue then you don’t have to pay. Rocketfarm cannot guarantee that a given bug can be fixed within a certain amount of time.
Q: Can I use Pally with UR10 eSeries?
A: Yes, Pally is designed for both the CB series and eSeries.
Q: Can I use my custom vacuum gripper with Pally?
A: Yes, you can use any gripper that will be suitable for palletizing with Pally. Read more about grippers.
Q: How long will it take from sending license request to receiving the license?
A: On working days you will normally receive a license within 1-2 hours.
Q: How can I generate patterns with Pally?
A: You create pattern in the web browser at this address: MyRobot.Cloud
Q: How do I get the patterns into the robot?
A: The exported file must be copied onto a USB. All the pattern files must be in the root folder.
Q: How do I integrate slip paper into Pally?
A: Rocketfarm will provide you with example code and a manual for you to integrate with Pally. The following .URP’s will be sent to you GetShimPaperFromStative and PutShimPaperToLeftPallet.
Q: Will Pally work on UR5?
A: Yes, Pally works on all models from Universal Robots. But, the palletizing algorithm is optimized for UR10.
Q: How do I get a demo license for Pally?
A: By generating a license_request and sending that file to license@rocketfarm.no, we will return a 1 month demo license.
Q: I’m using the Schmalz FXCB gripper with foam, and it’s always trying to palletise the same box. What is happening?
A: The vacuum sensor mounted in the gripper is used by Pally to detect if the gripper is losing the box when palletizing. Have you remembered to configure the set points on the vacuum sensor? The manual can be downloaded here: https://www.schmalz.com/en/10.06.02.00577
Q: After calibrating the pickup position and the pallets and pressing Start Palletizing, the robot is grabbing the box on the pickup location with an offset. What can be the problem?
A: There are several reasons why this can happen. Try resolve with the following actions:
Check if you selected the correct Left or Right Fixed guide position
Check the TCP general setting if the values is correct for you gripper
Check if the tool connector is pointing upwards the conveyor (to the other boxes) when calibrating the pickup position.
Q: How can I add a message when both pallets are full and not replaced in the meantime?
A: You can add a text box in the afterPallet Callbacks.
Q: How high can Pally palletize?
A: That depends on the hardware. Pally will palletize as high as the hardware will allow for it to palletize.
Q: How fast can Pally palletize?
A: Within the collaborative settings Pally can do approx. 8 cycles/min. If the project allows for multi grip you can palletize 14 boxes/min with double grip, 21 boxes/min with triple grip, and so on. Maximum cases per minute is approximately 60.
Q: How many boxes can Pally grip at once?
A: Pally multi grip allows up to eight boxes to be picked simultaneously. This setting is selected in the Pallet Builder.
Q: My conveyor is coming into the robot with an angle. How will this work?
A: Pally can handle all angles presented by the conveyor. Calibrate pickup position such as box is presented to robot.
Q: The box hits the base when palletising near the robot. What can I do?
A: Here you can use the Smart Exit and the High approach boost function in Pally.
Adjust the following variables:
Left pallet smart exit search range X
Left pallet smart exit search range Y
Right pallet smart exit search range X
Right pallet smart exit search range Y
High approach boost
Q: When calibrating the pallet, does the gripper direction has to be consistent?
A: Yes - All three points on the pallet must be calibrated the same direction.
Use consistent gripper and box orientation when calibrating the pickup and pallet positions.
Keep in mind that "length" and "width" values must be always consistent to the diagram.
Choose "Left" and "Right" pallets from the viewer's perspective as shown above.
Q: There isn't enough reach for the robot to calibrate the furthest corner on the pallet. What can I do?
A: Since Pally doesn't calibrate the actual pallet you use in the project, but instead calibrates the orientation of the pallet, skewness on the floor etc.- you can make the pallet smaller. Draw up a smaller fictional pallet and calibrate that area. Keep in mind that the larger the area the better calibration. Note: the height calibrated must match the same height of the pallet used in palletization.
boxes placed after the fictional pallet
Q: I have 3 different box sizes on the same conveyor belt. Can Pally palletize all of them?
A: It depends; You can have several box types or products in Pally and select the correct product for palletizing, but Pally can only palletize one box at the time, onto two pallets.
Q: Can I mount the robot in another way than the normal, on top of the column way?
A: Not yet. Please let us know if you have a specific request for this feature, and we could discuss it for our future development tasks.
Q: The robot stops in the “beforePallet” callback node. What is wrong?
A: This usually means the robot is waiting for the start palletizing signal or the product sensors. Make sure you have the correct input from the sensors, and make sure you have configured them correctly in the hardware installation for Pally.
Q: When Pally is placing a specific box, the robot is stopping due to “Close to joint limits” on Wrist 3. See picture.
A: This stop is probably caused by restrictions on the rotation of wrist 3 or not so good starting point on the Waiting Position. Try change the Waiting Position 180 degrees in opposite direction of close to limit stop.
Q: Why does Pally try to move the robot quicker than allowed?
A: The individual joint acceleration may exceed the safety limits when moving on a linear path. The estimation would require huge amounts of extra calculations, and it’s not yet included in the program.
Q: When will the beforeZone callback be run?
A: There are 2 entry points for the beforeZone callback. One is after restarting the stopped program and clicking on "Continue existing pallet". The other is when the pallet completion state changes so that the robot starts with a new zone - which is by default also a new layer. One zone may contain several layers, especially when the product height is smaller than 20% of the lifting column max.
Q: What are the benefits of having a lifting column?
A: A lifting column can be essential for palletizing projects.
A UR10 will only be able to palletize pallets up to approximately 1,5 meters without a lifting column.
By using a lifting column with a stroke of 900mm a UR10 can easily palletize patterns up to 2,3 meters.
Even if a palletizing installation originally is set up for pallets lower than 1,5 meters, by including a lifting column the palletizing solution becomes futureproof, and makes it easy to use with new products and pallets in the future with no need for additional hardware.
A lifting column helps to reduce wear of the robot. By placing the base at ideal height we enable the robot to move as smoothly as possible by utilizing all joints and creating smooth movements in all joints.For UR20 the same principles apply, but of course the range for that robot is bigger, so the pallets must be above approximately 2,2 meters before a UR20 needs a lifting column to be able to palletize all positions.
But the wear part is valid for UR20 as well as for the UR10.
Q: What is the variable for the lifting column?
A: In the Pally program code, the mathematical transformation of the lifting column position is stored in a variable that is called "rf_world_pos". This is just a pose variable where the Z-value contains the lifting column position as a negative value in meters. You can enforce this variable to be global, and then you can override its value. Try to enter the following script line in both the beforeZone and beforeGrab callbacks:
global rf_world_pos = p[0, 0, -0.001 * get_liftkit_position(), 0, 0, 0]
(Don't forget the keyword global!)
Q: What types of pallets are supported with the Pally palletizing software from Rocketfarm?
A: All pallets should be supported in Pally. We have the following pallets type as a native selection in the Pattern Generator: US1 (1219mmx1219mm), US2 (1067mmx1067mm), EU1 (1200mmx800mm), EU2 (1200mmx1000mm), EU6 (800mmx600mm), AU1 (1140mmx1140mm) and ASIA1 (1100mmx1100mm). You can also use your own custom pallet whether it is smaller or larger. A rule of thumb is that as long as there is range on the selected robot towards the pallet, it can be used
Q: Can I use non-vacuum grippers with Pally? Fork-like grippers, for example, which grab the box from the bottom.
A: Pally out of the box is not supported with grippers that grab from the bottom of the box. We are however interested to get in touch with projects like this to see how we can implement this functionality in the future.
Q: How many in-feed conveyors are supported with the Pally palletizing software from Rocketfarm?
A: Pally supports two in-feed conveyors to palletize from. You can either palletize the same product from two conveyor belts or palletize two different products from the two conveyor belts. But Pally only supports 1 product per conveyor belt and 1 product per pallet
Q: What is the maximum payload, speed and height the Pally palletizing software from Rocketfarm can support?
A: Pally is supporting the maximum payload and speed that is allowed with Universal Robots, that being 10 kg for the UR10 and 16 kg for the UR16. keep in mind that the gripper is also included on that payload. The speed factor is based on the risk assessment of the total system, but the average Cycle Per Minute with Pally is around 6-8 in collaborative mode. Here you can increase the palletizing process by double picking or multi picking boxes. Maximum pick of boxes is 8 at a time, so 8 x 8 could be 64 boxes per minute. If you include a standard 900mm stroke lifting column into your project you can achieve palletizing up 2.2 meters. In the near future Pally will be able to palletize even higher, near 3 to 4 meters
Q: During palletizing, when we are changing orientation at odd layers, how do we offset the picking position location?
A: No matter what your pattern looks like on the pallet, pick up position will be the same. In Pally Pattern Builder you will generate the desired pattern for your project, if boxes are rotated or you want locking layers, Pally will take care of this when it places the boxes on the pallet
Q: How to delete a license from a robot?
A:
attach a keyboard to the teach pendant
enter "ctrl + alt + F1"
enter "login, user: root, password: easybot"
enter "cd /home/ur/.no.rocketfarm.urcap.palletmanager"
enter "ls -a"
enter "rm [name of license file]" (A tip here is to start type in the license name and press the TAB-key)
enter "ctrl + alt + F7"
Q: Can Pally be used with a SlideKit?
A:(This is an interesting concept, but I'm sorry to say that we currently do not support slidekits. Implementing both a slidekit and a lifting column is adding quite a bit of complexity to a project. That being said, I'm happy to suggest some points in how to approach solving such a task:
Use a bracket between the robot's tool flange and the gripper to provide a greater TCP offset.This will provide increased reach, for the cost of reduced maneuverability close to the robot's base. Take both into consideration before deciding on how much the TCP offset should be.
Use a lifting column with as low as possible mounting height.This will bring the robot's base closer to the pallet plane for the first layer and thus increase lateral reach.If the robot can place the first box being almost fully stretched and completely horizontal from the shoulder joint to the gripper, the mounting height is perfected.
The combination of the above could provide you with enough reach, both laterally and vertically, at a much lower technical complexity.
In addition, we want to offer that we run a simulation with the product you described. We can start with the lowest mounting height possible for the robot when using a standard lifting column (Ewellix LIFTKIT with 900mm stroke), and see if there is enough reach. We can test different TCP offsets for a gripper to see if this increases the reach, if necessary.
Q: Is Pally compatible with the Cobot Lift ( / Cobotlift)?
A: We have successfully tested Pally with the Cobot Lift some years back in our own facilities, with boxes of 15-20kg.
Firstly Pally is compatible with the Cobot Lift. However there is one limitation which we are aware of and that is related to the gripper rotation. This is actually something that applies for any installation, even without Pally. In Pally this refers to the "optimised gripper orientation at pick up"-feature. With Pally you can set the gripper orientation not "none" (locked gripper orientation), "2-way" (0 and 180 degree rotation) and 4-way (0, 90, 180 and 270 degree rotations), allowing the software to choose the smartest way to place the gripper at pick up. This feature enables you to use the full reach of the robot.With the Cobot Lift, there might be joint limitations for the 3rd wrist, so you might not be able to use all gripper optimisations from Pally.
With the Cobot Lift, since it has joint limitations for the 3rd wrist, it should usually be set to "none", as of our latest information. Cobot Lift has however released the Rotating Head (https://cobotlift.com/wp-content/uploads/2021/01/Rotating_head_Product_Launch.pdf), which allows the rotation that was limited as described above.
(Video of Rotating Head: The NEW Rotating Head)
Other than the points mentioned above, it should be fine to use the Cobot Lift.
Q: Do you have a battle card for comparing to Robotiq’s product?
A: One of the key differences is that you can use any hardware with Pally and since every project is unique and might need adjustment to the mounting dimensions, Robotique comes at it is.
Then there's quite some distinct differences in the software and features. We have optimized the path planning which includes orienting the gripper at pick up to the smoothest and quickest movement, but also to use the full reach of the robot.
What I'm not sure about is the dynamic max grip, what Robotique's solution here is or if they have this as well. Maybe you can have a look at this? But this might also be an important point. Here, with Pally you can reach high cycle times while operating more safely. If the product (weight and size) allows multi pick, you can lift more boxes together while running on lower speed (which is safer), but still reach a high(er) cycle time.
Q: If customer need to move palletizing set up for some reason (e.g. for cleaning the floor) and we have already taught pallet corners for software can we start palletizing again by just teaching a picking place from conveyor line? Software automatically calculate changed place or orientation?
A: If the frame includes corners in which the pallets can be pushed into and thus will always be at the same position related to the robot, then you do not have to recalibrate the 3 corners for each pallet.
Does the frame have any connection to the conveyor belt? Some mechanism to click in? If so, then you would also not have to recalibrate the pick up position.
However, it would not hurt to just double check and recalibrate the pick up position to make sure everything works fine.
Also, if you have several production lines and want to move the robot/frame in between them, you can save a program for each line with the different pick up positions (if you some sort of click-in function).
Q. How does Pally work with OnRobot grippers?
A: Pally works well with the VG10. However, we do see compatibility issues with the VG20. See more here: https://rocketfarm.atlassian.net/wiki/spaces/CST/pages/1417183395
Q. I have a question regarding the maximum stack height of the UR10/UR16. Do you have a table or a formula for this to know from when a liftkitt is needed?
A: We don't have a table or give super precise answers here, because it all depends on the product and the setup. With a UR10 you can usually reach around 1,20 m without a lifting column (again, depending heavily on the product you stack), and with "standard" lifting column (Ewillix 900 mm stroke) you can reach 2.15m. Then, custom lifting columns can reach any height (Ewillix custom available up to 1400mm, other even higher).
With a UR16 you can reach 1,8 m with Ewillix 900 mm and a EUR-pall. Also here, with the right lifting column, you can reach any height up to 3 m. However, we do recommend to do a simulation to see if it's doable, which we will happily do for you.
Q: Does the Digital Twin (simulation tool) consider box weight?
A: For the actual gripping sequence - traction between the gripper and box, and between the conveyor and box has an affect.
For the movement - moment of inertia, how the weight is distributed in the box and how the "overload" affects the movement is not taken into account. Often the issue with oversized boxes are how they're handled in acceleration- and deceleration phases. Linear velocities are ok. (Moment of inertia is the most critical with too heavy boxes)
For the release - decrease in weight and change of CoG.
Q: How to delete a license from a robot?
A:
attach a keyboard to the teach pendant
enter "ctrl + alt + F1"
enter "login, user: root, passord: easybot"
enter "cd /home/ur/.no.rocketfarm.urcap.palletmanager"
enter "ls -a"
enter "rm [name of license file]" (A tip here is to start type in the license name and press the TAB-key)
enter "ctrl + alt + F7"
EasyPalletizer:
Colleagues thought that for full functionality we only need the Ewillix lift, the Pally program and we will save several thousand EUR for an EasyRobotics palletizer or another. We are able to manufacture the lift holder for the robot and sensors ourselves. Or what is the advantage of using EasyRobotics in conjunction with your program?
It is fine to mount the robot on the liftkit directly and not use a frame. The frame can be very useful in storing the controller box, cables of the lifitkit and potentially other hardware in there where it's safe from damage. It also has holes to be lifted with the lift fork easily, so it can be flexible and moved around easily. If you only use the liftkit, you have to mount it to the floor (with screws) and then it's not flexible anymore, but that of course depends on the customer's needs. It also has the led lights included in the front and already has the corners for the pallet. But those corners you can also build for instance with some steel/aluminium bars. You can also easily mount the teach pendant on it.
Collision with base while palletizing
We have had cases before where collision with the base has been a challenge, especially in the beginning of the palletizing process. To avoid this you can use the "inverted approach" setting in the Pally Pallet Builder, either on the first couple of layers or for the entire pallet. See photo below.
MyRobot.Cloud
Interested in our MyRobot.Cloud?
We offer the ability to generate a pallet pattern at the website
On this site, you can make a pattern, then download a JSON palletizing file. We then use this JSON file as input to the Pally URCap (application for a UR robot). Once the JSON is loaded to the robot, and the robot is installed and calibrated, you choose the selected JSON, and click "Play". Then the robot starts to palletize.
The specific JSON file from the website only works with the pally URCap. BUT, we are currently looking into if we can export a JSON or Excel to other systems as well. So if this is what you are looking for, then what we would need from you, is an example file and documentation on how you need that file to be formatted to work with your robot. If this is possible, then lets talk further on what the next steps should be.
Transfer json files without a USB stick:
The easiest solution would be to install a FTP server on your computer. You can then define a folder on the robot and the access that folder from your computer.
Another solution can be to use a efernet cable.
Lastly, an option can be to use the Secure Copy Protocol (SCP) and copy the json to root@”ip-cobot”/programs/patterns.
Pally Show Mode Kit: Pally Show Mode
Q: What is the Pally Show Mode Kit?
A: The Show mode program is a built-in function of the official Pally URCap (release 2.12 and above). To access it, you will require a DEMO or Trial license. If you already have one of these licenses, under “Installation-URCaps-Pally-Advanced-Other”, select “Show mode” in the Operation Mode drop-down menu. The Show mode program was made to show the different functionalities of Pally. It will depalletize from one pallet, drop the boxes off on the conveyor/drop-off position and then palletize them on the other pallet.
Q: How do we make the Pally Show Mode work?
A: For the Show mode program to work, the following is required;
two pallets
a conveyor or gravity slider (recommended)
one of the two following sensor options:
Two sensors, one for confirming drop off and one for pick up (recommended)
One sensor alternating between signals; “High” for box presence on the conveyor (palletizing) and “Low” for conveyor empty (depalletizing)
Q: How do we set up the Pally Show Mode Kit?
A: Find a detailed description here: Pally Show Mode | Setup:
Experiences from Rocketfarm:
Picking plane paper instead of carton sheet is very complex.
This is nothing that we can simulate, since there is no way we can predict how the paper will behave in real life.
Our experience from the Continental Mills project was that this is something the customer needs to test out and find the best solution for himself.
We would recommend that they include some extra time to find a good routine for picking and placing the paper in their offer.
We can offer assistance during this testing, as we assisted Colombia Okura, but that would be on hourly basis and charged per hour used, like an engineering service but without a certain amount of hours agreed in advance.