In Pally you can get access to the following variables via Global_pally_context:
# tuning parameters
max_speed
max_acceleration
precise_speed
precise_acceleration
min_grip_quality
release_strategy
grip_delay
grip_release_delay
blend
product_selection_strategy
product_selection_predefined
force_palletizing_mode
trace_program_callbacks
gui_ip
set_workpiece_weight
set_weight_workaround
gripper_weight
gripper_tcp
gripper_cog
start_pos
start_jpos
# callback context
Instance
MovePerformed
TaskCompleted
ZoneNr
LayerNr
ProductCount
ProductName
LayerAlt
LayerHeight
PalletNr
PalletCenter
MoveTarget
MountPosition
# IO
# conveyor IO
l1_sensors
l2_sensors
# gripper IO
pick_signals
drop_signals
vacuum_lost_sensor
# pallet confirmation IO
p1_button
p2_button
p1_led
p2_led
# LED tower undefined
green_led
yellow_led
red_led
Example:
Global_pally_context.grip_release_delay=0.5
Example II:
movel(Global_pally_context.MoveTarget)
Global_pally_context.MovePerformed=True
Currently there are some (experimental) settings in the Pally context that can be changed. Parameters and their default values are shown below:
max_speed = 1300 max_acceleration = 1300 precise_speed = 200 precise_acceleration = 200 grip_delay = 0.2 grip_release_delay = 0.2 blend = 0.3 force_palletizing_mode = False trace_program_callbacks = False gui_ip = "127.0.0.1" set_workpiece_weight = False gripper_weight = 2.6 gripper_cog = [0.0, -100.0, 50.0]
l1_sensors = [ [0, 1], [0, 2] ] l2_sensors = []
pick_signals = [ [1, 1] ] drop_signals = [ [1, 2] ] vacuum_sensor = [1, 1]