Pally program is waiting on the "onNextTask" line and robot is not moving

Visualization of program execution in Polyscope is not perfect. We have observed in multiple projects it shows the program is waiting in the onNextTask callback but actually it is not.

How to proceed

1. Go to Program → Pally → Advanced → System

2. Select log-level: debug

3. Start the program.

Open

4. Observe the log messages in the Log window. (Don’t forget to push all 3 small icons and above the log window to get all lines visible.)

5. You’ll be able to see where the program is waiting. Probably a missing signal, either pallet confirmation or product presence.

Open

By default, the pattern editor will add "Max Grip: 8" and "Max Grip Auto: True" and this will let the robot decide how many boxes can be picked in one robot cycle. The reason why the robot waits forever without picking the box is probably that it's waiting for more boxes.

Here are some suggestions:

• If you have multi-pick enabled, and at least one pattern has double (triple, …) pick:

  • please select "Max Grip" manually in the pattern editor for all patterns, or edit the patterns manually in any text editor, and change the relevant fields in any text editor.

• If you don't have multi-pick, and the robot will always pick exactly one box in a cycle for all patterns:

  • please make sure there is exactly one product sensor defined in Installation Pally IO : Conveyor - Pick signals.