This article is written for Pally Module for Doosan cobot

With the Pally Module 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.

MyRobot.Cloud / Waypoints Generation

Sign in or sign up to MyRobot.Cloud

With your user and organization set up. Create a customer organization.

Upload Calibration / Installed Robot

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

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 tune 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

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

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