Pally for Doosan - Variables and I/O's
In Pally, you can get access to the following variables via Global_pally_context, so you need to add Global_pally_context. before the variables.
In the tables below, we have written the complete names, including the Global_pally_context.
Speed and acceleration variables
Name | Description |
Global_pally_context.max_acceleration | Maximum acceleration, mm/s2 |
Global_pally_context.max_speed | Maximum tool speed, mm/s |
Global_pally_context.precise_acceleration | Acceleration during movement in the approach distance area, mm/s2 |
Global_pally_context.precise_speed | Tool speed during movement in the approach distance area, mm/s |
Global_pally_context.min_grip_quality | Minimum required grip quality for moving with full acceleration |
Gripper variables
Name | Description |
Global_pally_context.grip_delay | Delay after turning on the gripper at pickup, in seconds. Default: 0.2 |
Global_pally_context.grip_release_delay | Delay after turning off the gripper at the target position. Default: 0.2 |
Global_pally_context.gripper_tcp | TCP position, example X, Y, Z coordinates in mm |
Global_pally_context.gripper_cog | COG position, example X, Y, Z coordinates in mm |
Global_pally_context.gripper_weight | gripper weight, kgs |
Tuning variables
Name | Description |
Global_pally_context.release_strategy | Bitmask that selects one or more waypoints to be removed from the return |
Global_pally_context.blend | Blend radius in linear movements as a fraction of the distance between subsequent waypoints. Default value 0.3. Recommended values: 0 - 0.3 |
Global_pally_context.gui_ip | Variable for Dart simulator, to set the IP address of the PC that runs the Dart Platform. Default value “127.0.0.1” |
Global_pally_context.trace_program_callbacks | When set to True, the Task Editor will trace and highlight the current program line inside Pally Callbacks that is being executed. This can make |
Global_pally_context.force_palletizing_mode | When setting this variable to True, the program will activate "Palletizing Mode". When False, the program will not change the current mode. In Palletizing Mode, the joint angle of the lower arm is fixed. This will avoid |
Global_pally_context.product_selection_strategy | Method to select a product on startup. Default value: 0 |
Global_pally_context.product_selection_predefined | Name of the pattern file - without the file extension ".json" - when the product selection strategy is 2. |
Global_pally_context.MovePerformed | A boolean value that Pally uses to check if it should move the robot on the path created by Pally. True - Pally will NOT move the robot on the path created by Pally. False - Pally will move the robot on the default calculated |
Global_pally_context.TaskPerformed | A boolean value that controls whether the main Pally program should proceed to the next box position on the pallet, or repeat the same box position again. True - Box has reached the target position on the pallet. |
Global_pally_context.MoveTarget | A pose variable that contains the robot’s target pose |
Product and pallet variables
Name | Description |
Global_pally_context.ZoneNr | Indicates which part of the pallet is being palletized (when using zones) |
Global_pally_context.LayerNr | An integer representing the current layer number that is being palletized. The value is zero-based. Any integer between 0 and the (total number of layers minus 1) for the current pattern |
Global_pally_context.ProductCount | An integer that is equal to the number of boxes that have been palletized so far. Any value between 0 and the total number of boxes present in the pattern |
Global_pally_context.ProductName | A string variable that is equal to the name of the current pattern file that is being palletized. |
Global_pally_context.LayerAlt | The altitude, measured from the top of the empty pallet in mm. |
Global_pally_context.LayerHeight | Height of the layer currently being processed in mm. |
Global_pally_context.PalletNr | An integer representing the current pallet, either the left or the right pallet, that is being palletized. 1 = Right pallet |
Global_pally_context.PalletCenter | The PalletCenter variable contains a pose calculated from the 3 corner calibration points and refers to the center point on the empty pallet. |
Global_pally_context.MountPosition | A pose variable that contains the new mounting position compared to the mounting position where Pally was calibrated. |
I/O variables
In the Pally program, we use variables to define IO channels in a generic way. The address of every IO channel is defined by a special variable, which is an array. The 0th element of the array is always the IO type (standard IO, configurable IO, tool IO, MODBUS, etc. - see below for the complete list) and the 1st element is the actual IO channel number.
The first value (element 0 in the array) determines the type of IO to be used. Currently, the following types are supported:
0: standard digital input / output
1: configurable digital input / output
2: tool digital input / output
5: integer register input / output
6: float register input / output
10: standard digital input / output with inverse logic
11: configurable digital input / output with inverse logic
12: tool digital input / output with inverse logic
-1: Always LOW input / no output
-11: Always HIGH input / no output
The variable names are listed below:
Conveyor IO
Global_pally_context.l1_sensors - Product sensors for primary conveyor
Global_pally_context.l2_sensors - Product sensors for secondary conveyor
Gripper IO
Global_pally_context.pick_signals - Turn on vacuum for custom gripper
Global_pally_context.drop_signals - Turn off vacuum for custom gripper
Global_pally_context.vacuum_lost_sensor - Signal for vacuum lost on the gripper
Pallet confirmation IO
Global_pally_context.p1_button - right pallet confirmation signal
Global_pally_context.p2_button - left pallet confirmation signal
Global_pally_context.p1_led - Right pallet LED light
Global_pally_context.p2_led - Left pallet LED light
# LED tower IO
Global_pally_context.green_led
Global_pally_context.yellow_led
Global_pally_context.red_led