Pally for Doosan - Run Pally Program Node

To make a palletizer program, you’ll need to open the ‘Task Editor’.

Open

From Pally, you have two different nodes:

• Init Pally (optional)

  • Get access to the Pally context (variables) and set up your callbacks.

• Run Pally (required)

  • Configure the maximum speed and acceleration for Pally.

    Open

    

Run Pally

This is the primary program node that controls the robot and performs palletizing tasks.

The main program includes the product selection via operator input and palletizing whole pallets.

Open

Maximum speed and maximum acceleration

These parameters are used to limit the robot’s movement in general.

Approach speed and approach acceleration

These parameters are used to limit the robot’s movement when approaching the pallet position. This is especially important when the boxes on the pallet are very close to each other or the box dimensions have significant variations, and quick movements would increase the occurrence of unexpected safety stops.

Smart acceleration

Adjusting the ‘Smart Acceleration’ slider to control the acceleration limitation by changing the minimum acceptable grip quality value.

Use this setting to control how much the robot can limit the Maximum Acceleration value when moving large and heavy boxes. Too high acceleration may result in frequent safety stops, inaccurate positioning, or dropped boxes. The following options are available:

• Fastest: the robot uses Maximum Acceleration whenever possible.

• Fast: acceleration is limited for very large and heavy boxes on a very small gripper.

• Medium: acceleration is limited for large and heavy boxes on a small gripper.

• Slower: acceleration is limited for large or heavy boxes and/or a small gripper.

• Slowest: the most restrictive setting that reduces the acceleration significantly.