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.