/
Pally for Doosan - Hardware

Pally for Doosan - Hardware

Overview

Set up all relevant hardware configurations.

Skjermbilde 2024-12-05 091401.png

The lifting column is not supported with this first version of the Pally.

Start by setting up the gripper you intend to use. Choose Gripper and Mounting in the menu on the left side. You can move between the different steps with this menu, or use the Next or Previous buttons in the bottom right corner.

We recommended mounting the gripper onto the robot so that the X2 tool connector faces down the conveyor.

image-20240828-133436.png

You can choose the natively integrated grippers, or you can choose a custom gripper.

Integrated grippers

If you choose a natively integrated gripper, we have already set the dimensions for the gripper.

image-20240829-103814.png

To set the TCP when you choose an integrated gripper, you choose the PallyTCP in the tool menu.

image-20240829-104020.png

If you cannot find the Pally TCP here, you need to go to the Robot parameter review and apply it there.

image-20250204-090344.png

Custom grippers

If you want to use another gripper that is not on the list of integrated grippers, you choose custom, and then you choose the type of custom gripper.

Custom gripper - Here, you can set the dimensions and TCP values of your gripper yourself.

Custom vacuum gripper - Here, you can set the dimensions and TCP values for the gripper yourself.

Import from gripper JSON - You can create your own completely customized gripper by utilizing the gripper JSON feature.

image-20240829-104456.png

Dimensions

You only need to set the dimensions if you use a gripper that is not on the integrated grippers list.

The length is the same direction as the X2.

image-20240829-124855.png

Offset

Here, you can choose if the gripper is mounted directly on the robot or if you have used a mounting bracket.

Skjermbilde 2024-12-05 093941.png

TCP

Go to ‘Tool’ on the top menu and set the correct TCP offset according to your gripper and mounting.

If you have chosen an integrated gripper from the list, these values are already filled in, and you only choose PallyTCP.

image-20240829-130124.png

Vacuum I/O’s

Here, you set the I/O’s for Vacuum, Blow, and Vacuum lost.

image-20240829-130912.png

I/O Signals

Pallet

Remember to enable both left and right pallets if you intend to palletize on both.

Then you specify I/O for both pallets.

image-20240902-092456.png

Conveyor

Choose which sensor you like to set and set the corresponding I/O.

Each product position needs a unique sensor. If you intend to enable triple pick, you need to set up three sensors.

image-20240902-092802.png

LED Tower

Set the I/O’s for the LED Tower, if you intend to use one for the installation.

image-20240902-092931.png