This article is written for Pally for Doosan cobot |
With the Pally you create the complete waypoints in MyRobot.Cloud instead of on the cobot. Creating the waypoints is done by creating Pally Programs using pattern generated in MyRobot.cloud and the backup of the installation/calibration. |
Sign in or sign up to MyRobot.Cloud
With your user and organization set up. Create a customer organization.
Select customer to work with
On the customer organization dashboard, press 
on Installed Robots
Select the new robot to add a new backup and then press Upload Backup file to import the calibration file from the Doosan robot
Enter a name for your robot and press Upload Calibration File
Give you backup a name and choose the generated calibration file from your robot
Once you’ve done this you will see your robot listed.
After activating the license you are ready for generating the Pally programs.
Back at the customer organizations press on the Patterns card.
A new dialogue should open where you enter your product dimensions and customize your pattern.
For more information on pattern generation visit: Product and patterns |
Either select an existing product or create a new product
Create new
Press + New Product
Enter name, product dimensions and label orientation
Press Save
Once you’re happy with your product press -> Next
Enter your pattern name
Choose your pattern settings
Choose your base pattern in the 3D view
Once happy with your base pattern either;
Customize your pattern
Confirm
Once you’ve pressed Confirm you are redirected to the Pattern table where your patterns are listed.
Back at the customer organizations and go to Pally program settings on the left meny. Then you can add new Pally path strategies.
A new dialogue should open where you can set the path planning parameters.
Name your strategy
Adjust the Path Planning parameters. Description of the different parameters can be found below.
Adjust the Gripper settings. Description of the different parameters can be found below.
Once satisfied. Press → Confirm
Variable | Description |
|---|---|
Above pickup | Distance from pickup to above pickup position. |
Box free height | Distance from pickup to box free position. |
Box free auto | Box free height should not be smaller than the box height. |
Approach | Approach distance |
Approach auto | Approach distance can be recalculated for each box. |
High approach boost | High approach boost. Only in effect when placing boxes below conveyor height. Floating value: [0 → 1] 
|
Pallet edge | Pallet lip. Set to 0 if none. |
Smart Exit | Area to search for a smart exit waypoint. min x - Lower X limit max x - Upper X limit min y - Lower Y limit max y - Upper Y limit |
Variable | Description |
|---|---|
Gripper rotation | The value can be either None, Two way or Four way. Representing the different ways a robot can pick the box. None: forward (the gripper direction at the calibrated pick position) 2-Way: forward and backward 4-Way: forward, backward, left, right |
Max grip | Currently not in use. |
Min grip quality | The minimum grip quality for calculating number of boxes to pick relative to gripper size. When the estimated grip quality drops below the minimum threshold, the program can decide to pick fewer boxes, use another gripper rotation at pickup, or even reduce the maximum allowed acceleration to guarantee box transport stability between the pick and drop position. Floating value from 0 and up. |
Foam height | Gripper foam (suction cup) squeezing length in meters. Default value 0.02. |
Length coverage | Minimum required fraction of the total length of each box covered by the gripper in multi-pick |
Grip rotation cost | Additional cost of each specific gripper rotation (0, 180, -90, +90) Default: [0, 30, 10, 10] |
Align to edges | Gripper-to-box edge alignment. Default: True Setting the value to False can be relevant for some custom grippers e.g. pinch grippers. Setting the value to False may cause accidental multipick of small boxes with large vacuum gripper. |
From the customer organization’s dashboard go to Pally programs on the left meny.
Select your pattern(s). You can create more than one program simultaneously
Select your Installed Robot
Select your Pally program setting
Press Confirm
Once the waypoint generation is finished you can download the generated .json
Download the file to a USB drive and upload the file on the robot according to the Pally Manual Upload Pally programs
