If you are experiencing one of the following problems with pally:
Strange movements
Large unexpected movements
Rotates a lot with the gripper
Collides with boxes and base / conveyor belts.
than we suggest to add the RF_BLEND = 0 code into the Callbacks. See example below how to add:
Video showing how to add rf_blend=0 into the Callbacks
Image showing where to add rf_blend=0 into the Callbacks
Affected Polyscope versions, so far:
eSeries
5.9.1
5.9.3
5.9.4
CB-series
Unknown
Follow our support ticket on the UR forum
Linked issue: Motor Controller Accuracy Bug is now present again
Read more about Pally variables: Other/Special variables
Removing Blend from Pally could result in slower a slower palletizing of boxes
We recommend not upgrading working systems to a newer version of Polyscope at this time