Pally for Doosan - Generate Pally Programs
Overview
To be able to palletize a pallet, you need to generate a complete Pally program. A Pally program is a JSON file that contains all the necessary information Pally needs to palletize your products according to the pattern you want.
Below, we explain the steps you need to complete the first time you create a Pally program. Any of the steps below can be skipped if you have already done them earlier.
Exporting the calibration data
When you have completed the calibration of the installation, you export the calibration. This is used as a foundation for creating Pally programs together with the pattern in MyRobot.cloud. You can do this as the last step in calibration.
As part of the export calibration, we strongly recommend validating the calibration to ensure optimal performance upon export.
You can do the calibration validation check from 'Advanced' as well.
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 robots
Select the customer to work with. It is important that this is the same customer who has received the license. Therefore, the correct information about the end user must be shared with Rocketfarm.
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 the 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 to generate the Pally programs.
Create Pattern
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.
Select / Create Product
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
Create pattern
Enter your pattern name
Choose your pattern settings
Choose your base pattern in the 3D view
Once happy with your base pattern, either;
Customize your pattern
Confirm
Once you’ve pressed Confirm, you are redirected to the Pattern menu where your patterns are listed.
Pally program settings
Back at the customer organizations, go to ‘Pally program settings’ in the left menu. Then you can add new Pally path strategies.
A new dialogue should open where you can set the path planning parameters.
Create Pally Program settings
Name your strategy
Adjust the Path Planning parameters. Descriptions of the different parameters can be found below.
Adjust the Gripper settings. Descriptions of the different parameters can be found below.
Once satisfied. Press → Confirm
Path Planning
Variable | Description |
|---|---|
Above pickup | Distance from pickup to the 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 |
Gripper
Variable | Description |
|---|---|
Gripper rotation | The value can be either None, Two-way, or Four-way. Representing the different ways a robot can pick up 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 the 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 positions. 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 a large vacuum gripper. |
Generate Pally Programs
From the customer organization’s dashboard, go to ‘Pally programs’ in the left menu.
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 (place it in the root folder) and upload the file to the robot on the Programs menu in Pally. You can upload more than one program at the same time.