Pally for Doosan variables

In Pally you can get access to the following variables via Global_pally_context:

• # tuning parameters

  • max_speed

  • max_acceleration

  • precise_speed

  • precise_acceleration

  • min_grip_quality

  • release_strategy

  • grip_delay

  • grip_release_delay

  • blend

  • product_selection_strategy

  • product_selection_predefined

  • force_palletizing_mode

  • trace_program_callbacks

  • gui_ip

  • set_workpiece_weight

  • set_weight_workaround

  • gripper_weight

  • gripper_tcp

  • gripper_cog

• # callback context

  • MovePerformed

  • TaskCompleted

  • ZoneNr

  • LayerNr

  • ProductCount

  • ProductName

  • LayerAlt

  • LayerHeight

  • PalletNr

  • PalletCenter

  • MoveTarget

  • MountPosition

• # IO    

  • # conveyor IO

    • l1_sensors

    • l2_sensors

  • # gripper IO

    • pick_signals

    • drop_signals

    • vacuum_lost_sensor

  • # pallet confirmation IO 

    • p1_button

    • p2_button

    • p1_led

    • p2_led

  • # LED tower undefined

    • green_led

    • yellow_led

    • red_led

Example:
Global_pally_context.grip_release_delay=0.5

Example II:
movel(Global_pally_context.MoveTarget)
Global_pally_context.MovePerformed=True

Currently there are some (experimental) settings in the Pally context that can be changed. Parameters and their default values are shown below:

max_speed = 1300
max_acceleration = 1300
precise_speed = 200
precise_acceleration = 200
grip_delay = 0.2
grip_release_delay = 0.2
blend = 0.3
force_palletizing_mode = False
trace_program_callbacks = False
gui_ip = "127.0.0.1"
set_workpiece_weight = False
gripper_weight = 2.6
gripper_cog = [0.0, -100.0, 50.0]

l1_sensors = [ [0, 1], [0, 2] ]
l2_sensors = []

pick_signals = [ [1, 1] ]
drop_signals = [ [1, 2] ]
vacuum_sensor = [1, 1]