Pally version 1.4.2 for PSX

Jul 1, 2026

Important bugfixes

• Fixed an issue where the operator screen could freeze.

• Fixed an issue where the robot randomly could report out of reach errors.

• Improved handling of Pally Programs.

Pally version 1.4.1 for PSX

19th May 2026

Important bugfixes

• Fixed an issue where physical pallet confirmation signals did not update the confirmed state on the operator panel

• Fixed an issue where it was possible to proceed without saving partial pallet values

• Fixed an issue where the program stopped with an exception when a Pally Program was incompatible with the current setup

• Fixed an issue where the TCP was incorrect for the waiting position

• Fixed an issue where the pallet state switched back from Terminating to Progress after the last AfterRelease action

• Reviewed and updated the Unigripper CoLight gripper dimensions

• The MRC connectivity checkbox made visible

• Inappropriate icons for box dimensions replaced on the operator panel

• Navigation bar item 'Pally Pattern' renamed to 'Pally Patterns' to be consistent with the rest of the application

• Minor fix in path planning calculations

Pally version 1.4 for PSX

05. March 2026

This version includes several new features and important bugfixes.

NOTE: This upgrade requires a new license

New features

Mechanical grippers

Pally now includes support for mechanical grippers, encompassing both clamp-type and fork-type designs. Users can now import gripper.json files, which are generated using MRC, for use in calibration and palletizing processes.

NOTE: Mechanical grippers are exclusively compatible with Pally programs created within the MRC environment.

Output toggles on POP

When the robot program is stopped, the operator can now control the robot's standard, configurable, and tool digital outputs directly from the Operator Panel using toggle buttons.

This capability simplifies operations by allowing the operator to easily release a gripper or manage other signals without needing to navigate away from the Pally operator screen.

This feature is available in Pally under the Advanced / Operator page.

Graceful program termination

A new "Stop program" button has been added. Operators can now use this button to halt the program after the robot has finished palletizing the current box. Activating this feature will also automatically mark the current pallet as 'finished', ensuring the program resumes at the pattern selection screen upon its next start.

New business model

Pally licenses are now perpetual, and the "Active plan" has been entirely eliminated. This change means that access to advanced program features will no longer expire.

Pally can be purchased in 3 different variants:

• Pally

• Pally Plus

• Pally Custom

NOTE: This upgrade requires a new license

Pally programs

Pally now supports Pally programs—pre-generated pattern files with all waypoints computed in the cloud. This enhancement eliminates the need for path planning calculations on the robot control box.

3D visualization of the actual pallet

A 3D representation of the current pallet layout is now displayed on the operator screen. This enhancement simplifies the configuration of partial pallets and provides real-time monitoring of pallet completion during the palletizing process.

Order management with multiple product types

You can now create and manage multiple orders, even if they contain different types of products.

Cloud synchronization

Real-time visibility of the current robot and palletizing status is now available in Myrobot.cloud.

Duplicate pattern

You can now duplicate an existing pattern and easily adjust the product's height and weight without needing to re-generate the entire pattern layout. This feature streamlines the process of creating new patterns for products where only the height or weight has changed, allowing the same efficient palletizing pattern to be quickly reused.

Full backup

Pally backups are now available as compressed zip files.

Each backup file is uniquely named, incorporating the robot's serial number and the time the backup was created.

The contents of the zip file include all patterns, the current license, the active URPX file, and the gripper.json file, if one exists.

Important bugfixes

• Fixed multiple issues in the path planning calculations that could lead to a collision with existing boxes on the pallet,

• Fixed an issue where product names were incorrectly presented on the Operator Panel in Dual Product mode,

• Fixed an issue where no error message was displayed upon the unsuccessful import of a pattern or Pally program,

• Fixed an issue on the gripper page where dimensions could be lost,

• Fixed an issue on the calibration pages where the TCP RZ offset and gripper center of gravity were wrong,

• Fixed an issue on the operator panel where the statistics and remaining time were wrong while running a Pally program,

• Fixed an issue where it was not possible to export the calibration when using a custom mounted gripper,

• Fixed an issue in the running program where the error message was wrong,

• Fixed an issue where the PallyTCP rotation offset was incorrect,

• Fixed an issue where the tool center of gravity was incorrect,

• Layout and alignment issues fixed,

• Fixed an issue where the calibration points were exported with an incorrect name,

• Added missing translations.

Other improvements

• The user interface has been redesigned completely,

• Gripper total weight is now editable for all supported gripper types,

• Integration with Myrobot.cloud simulation engine,

• Increased smart exit input range,

• URScript code generator improvements.

Pally version 1.1 for PSX

New features

Offline pallet builder

Now it is possible to create pallet patterns directly on the teach pendant. The new pattern editor can be accessed from the Pally Operator Panel pattern selection screen.

Dual product mode

The program can now palletize 2 different products from 2 different conveyors on 2 pallets simultaneously. To enable this feature, select the operation mode 'Dual product mode'.

Trade show mode

A new operation mode 'Show mode' has been added, which can be used to create a demo setup easily. The program moves boxes from one pallet to another and back. This mode is for demo purposes only, and cannot be used in production environments.

72-hours instant license

Now it is possible to generate a 72-hours instant license and start configuring the palletizer immediately.

Translations

Pally is now available in 15 languages*, including Bulgarian, Czech, German, English, Spanish, French, Hungarian, Italian, Dutch, Norwegian, Polish, Portuguese, Slovak, Swedish, Turkish.
*Please note: some text is machine-translated and may contain errors.

MODBUS signals

Now it is possible to select MODBUS signals for input and output. After setting up the MODBUS communication in PolyscopeX the signals can be selected in the Pally IO drop-downs.

Important bugfixes

• Fixed an issue where the maximum payload was 35 kg for each robot type. The payload is now limited by the actual robot capabilities.

• Fixed an issue where the pattern verification button did not work.

Other improvements

• Added a new editor screen to create custom gripper settings easily

• Added an option to upload OEM logo

• Added a popup with General Terms and Conditions page

• Custom gripper improvements/fixes