Pally Module - compability

This article is written for Pally Module for Doosan cobot

Workpiece weight

If you do not have the Dr.Dart-Platform version 3.3.0 or higher, Pally will not be able to update payload while running. Then you need to use the below workaround.

Do not use heavy boxes with lower versions. The function set_workpiece_weight is not implemented and the robot will most likely stop with protective stop when trying to lift heavy boxes.

Please also make sure the tool weight and TCP settings are correct. The program will not update these values.

Make sure TCP offset and tool weight is set before doing any calibration

Workaround

A current workaround which is not properly tested, and has its clear limitation is to define tool presets.

Currently there are 5 different hard-coded tool names that should be added for this workaround.

Tool name	Weight

Tool name	Weight
empty	< 3 kg
light	Between 3 and 8 kg
medium	Between 8 and 13 kg
heavy	Between 13 and 18 kg
max	Above or equal to 18 kg

to use this you need to set the Pally variable set_weight_workaround to True

If your Global pally context variable is named Global_pally_context add a custom code command with

Global_pally_context.set_weight_workaround = True

before the runPally command in the Task Editor.