Q: Does Pally have a sorting algorithm?
A: Yes! It is not quicksort, but Pally automatically aligns queues of boxes and layers based on the input file from the Pattern Generator.
Q: Which port is the daemon running at?
A: The daemon is by default running at port 40405. If there are any other daemons running at this port, there will be two resources fighting over the same port. Make sure to change one of the ports, such that only one URCap is using each port.
Q: “Cannot find inverse kinematics solution”, what is wrong?
A: This usually means the robot is trying to get outside of its reach. Verify that the gripper is mounted correctly and that the robot is not trying to go out of its own reach. By using as many “don’t care” placements of the boxes, the robot can choose the best trajectory and you might resolve the “Cannot find inverse kinematics solution” error message.
Q: When pressing “Move here” in the Pallet Tab in the setup wizard, the robot goes to a wrong position.
A: Make sure the robot is mounted properly on the base. Is the power connector facing the correct direction, ie. facing away from the pickup position?
Q: The robot stops in the “Before Pallet” callback node. What is wrong?
This usually means the robot is waiting for a “Go!” signal from either the pallet present sensors, or the box present sensors. Make sure you have the correct input from the sensors, and make sure you have configured them correctly in the “Installation->I/O” tab.
Q: I would like to use a Normally Open valve for switching the vacuum. How do you support this?
A: In the “Installations->Gripper” tab, you can choose “Other/Proprietary” gripper. You can then use the callbacks nodes in the program to control the gripper however you like.
Q: Can I use pallets of different heights?
A: Not for now, all pallets must be of the same height unless you want to redo the setup wizard. This might change in the future, such that Pally can handle different heights of pallets without having to be reconfigured.
Q: Why does the tool of the robot does a lot of unnecessary rotations?
A: Please verify that all of your hard coded positions does not have any joints close to their limit positions, especially “check pickup position” and “default waiting position”. Another point may be that the boxes are not placed in a “don’t care” position, ie, it does not matter if the boxes are rotated 180 degrees or not.
Q: I need to keep track of the things I am palletizing, how do I do this?
A: This is easy, just add your own routine in the beforePallet, afterRelease and afterPallet callbacks. In these callbacks you can use the global variables ProductName and ProductCount to get information about the current progress. The afterRelease callback is executed after the vacuum has been turned off. Here you can monitor the ProductCount global variable, which is incremented by the number of boxes successfully placed on the pallet. If vacuum is lost, the ProductCount is not incremented, and the robot will retry the same position again. If you have an OPC UA server/client running in your factory, we recommend using OPC UA to keep track of your counters. As an example, you can use the URCap for OPC UA that we made which is available on UR+.
Q: My gripper is mounted on an offset plate. Can I still use Pally?
A: Yes, but in this case you can’t choose gripper type “UniGripper CoLight” as it is defined with standard mounting. You should select “other vacuumgripper” or “other/proprietary”, then the TCP is not set by Pally, and you should define your TCP manually under Installation/TCP. Both position and rotation offset can be defined, depending on your physical setup. You can test whether your TCP setting is correct or not, by selecting the Move tab on the robot, choose feature “Tool” from the drop-down list, and move the robot with the arrow icons. If your TCP is correct, the robot should move parallel with the gripper edges, and rotate around the gripper foam center point and not around the tool flange.
Q: My robot is mounted on a column so that the power connector is not pointing backward as recommended. Can I still use Pally?
A: Yes, but in this case the default pallet positions on the Pally program node will not be correct, and you should should double check that the robot can reach all corners of both pallet, without giving the error “Joint position close to limits: Base” when calibrating the pallet positions.
Q: I get the error message "Pallet Manager is not enabled".
A: Go to Installation/Pally/Daemon and make sure the daemon is enabled and running. You should also check that there is no other URCap configured on port 40405.
Q: My lifting column does not have any end-switches, can I still use Pally?
A: You can use Pally at your own risk, as the correct position of the lifting column cannot be verified and unexpected malfunction can occur. You can stop lifting column with “Max. duration”
Q: My robot is mounted upside down, can I still use Pally?
Q: If my customer ask for a UR10 robot mounted in the ceiling, wall or at an angle, can I still use Pally?
Q: I have calibrated the pickup position, but the robot is not point exactly above the center of the box.
- Make sure you have selected “fixed side guide position” properly.
- Make sure your TCP settings are correct.
Q: I have calibrated the pickup position, but the double picking position is incorrect.
A: Check that your calibration is done according to the User Manual. Make sure the conveyor is parallel with the Y-axis in the Tool coordinate system. This is done by selecting the Move tab on the robot, choose feature “Tool” from the drop-down list, and move the robot with the arrow icons.
Q: I have 3 pallet positions, can I still use Pally?
Q: Can I continue a pallet after a power failure?
A: Not yet, but we are working on this. (2019)
Q: I get the error message "Joint position close to limits: Wrist 3".
A: Try to change the default waiting position by rotating wrist 3 by 360 degrees, so that the robot starts from another default joint position and has enough margin to perform the requested movement. If this does not help, consider mounting your gripper 180 degrees rotated AND change your TCP settings accordingly.
Q: The robot stops too often with protective stop while moving the boxes. There are no mechanical issues or collisions. The product weight is also defined properly in the pallet pattern.
A: The robot safety settings might be too restrictive for the task. Check maximum speed, acceleration, force, momentum. You might have to increase some of these values, but always follow your risk assessment.
Q: The robot stops too often with protective stop, exactly before releasing the box on the target position.
A: Check that your pallet position is properly calibrated, and the calibration box height is properly entered. Check that your product height is correct in the pallet pattern.
Q: Can I enforce double picking?
A: You can enforce double picking by modifying your sensor hardware. Change your sensor logic so that product sensor 1 should never be high without sensor 2 being high. This will enforce that Pally always gets the trigger when 2 boxes are available on the pickup position.
Q: The lower arm hits the boxes on the pallet when palletizing the topmost layer.
A: You can divide the pallet into blocks, and perform these blocks in a given order. See “zones” for further details.
Q: I have calibrated my system, and all the positions seems good, but when I am starting to palletize, the gripper has an offset when gripping.
A: Please verify that you did not swap the width and length parameters on the gripper. Wrong offsets are typically related to swapped width and length parameters when the gripper is close to the size of the boxes you are picking up.
Q: Can I mount the robot in another way than the normal, on top of column way?
A: Not yet. Please let us know if you have a specific request for this feature, and we could discuss it for our future development tasks.
Q: I get a fault when trying to run saying that Get_Liftkit_is_moving() is not initialized
A: Please check the SKF LiftKit settings under Installation/URCaps/SKF LiftKit. You should be able to initialize the lifting column here.In case you see a fault message, try to select an XmlRpc port other than 40405, save all, and restart the robot.
What is Pally?
Pally is a palletizing software for UR-robots. It consists of two main parts, the browser(www) side and the robot(URcap) side.
On the browser side, you have the pattern generator where you define the patterns you would like to palletize. You can make as many as you like! It is easy and flexible, and our intention is that everybody shall be able to use this with very little training. If you are a robot expert, robot distributor, end user or line operator doesn’t matter. We have a saying; can you use Facebook, you should be able to use the generator.
On the robot side, the software read the files you created in the pattern generator. Here, the robot plans the order to put the boxes, calculates the paths it needs to follow and all the final positions for the boxes. We have put a lot of effort into making it very smooth and stable, with a user interface the line operators understands. The line operators typically operate the Pally driven UR robots, which leaves the technical staff to do the difficult stuff elsewhere in your factory. Pally is easy.
How fast can Pally palletize?
The speed of Pally depends on several factors: The box size, the box weight, your gripper anatomy, your pattern on the pallet and if you can double grip your boxes or not. We can typically do 6 lifts a minute in collaborative mode, but some customers have stretched the performance to 10 lifts a minute. At these speeds we recommend using an external safety device.
Can Pally lift heavy boxes?
Yes. If your UR robot can lift it, Pally can lift it.
I want to lift two products at the time. Can Pally do this?
Absolutely. If your gripper allows this, it is no problem. Just specify “max grip” to “2” in the Pattern Generator, and align the two boxes on the conveyor. The robot will then grip 1 box if there is only 1 box available, and 2 boxes if there are 2 boxes available and it fits in the pattern. For recommended setups here, please see the user manual
Is Pally compatible with other UR+ products?
Yes! We have native support for amongst other things UniGripper Co/Light and SKF Lifting Columns. More products can be added upon request if you have some hardware you would like to be compatible with Pally.
Which grippers can I use?
Whatever gripper you want. We have customers using UniGripper, Schmaltz and custom made grippers.To configure Pally to your gripper, just insert the dimensions of the gripper in the installation tab, and use the callback nodes to control it. It is pretty straight forward if you have any experience with UR robots.
Can I use Pally with US standard pallets?
Yes, but then we do recommend using a lifting column. Otherwise, the pallet maximum hight will be limited. This is due to the range limitations in the UR10 arm, not Pally.
Is Pally ISO/TS 15066 compliant?
You have to do your own risk assessment when installing based on the finished installation. The robot speeds in Pally can be set by the integrator or end user to be compliant with ISO/TS 15066. If you want to run the robot in non-collaborative mode, Pally supports higher speeds than recommended in the ISO/TS 15066. In such cases you must use an additional safety device.
Does Pally support additional safety devices?
Yes. You can trigger reduced mode speeds based on input from an external safety device. You can configure this in the safety settings of the robot.
In what countries are Pally available?
Currently it is sold in Europe and the US, but will be released in other regions later in 2019.
How high pallets can Pally palletize?
Pally can go as high as your hardware can go. Our maximum height done is 2100-2200mm. Stacking pallets much higher than this tends to give very unstable pallets which fall apart during transportation.
Can Pally palletize two pallets?
Yes. When you specify your pattern in the Pattern Generator, this pattern will automatically be mirrored into the other side. Just set up your Pally to run on two pallets, and it will automatically start palletizing on the other side as soon as one pallet is finished.
I need a shim paper to stabilize my pallet. Does Pally support this?
Yes, version 2.3 and up will have callbacks where the end users can define their own shim paper routines. Inside the Pattern Generator, you specify where in the pallet you would like the shim paper. When the robot is finished with the layer before the shim paper, the shim paper callback will be called. If you have defined your own program in this node, this program will then be executed. We
Is Pally compatible with SKF lifting columns?
Yes, we have native support for SKF lifting columns. You do not have to think about anything regarding translations or transformations, just specify the stroke of your column and connect the necessary wires. You are then good to go!
Can I use a lifting column of my own choice?
Yes, this will be released soon!
Can I create my own patterns?
You can create as many patterns as you want. We have customers running 200+ patterns on each of their robots.
Is it difficult to create my own patterns?
No, but there are some best practices. Please refer to the user manual for how to create good patterns. After creating a couple of patterns, it is easy peasy.
My floor is not leveled, will this be a problem?
No leveled floor, no problem. Pally is lvl 60. Just calibrate your pallet, and Pally does the rest for you.
What is the typical installation time of a Pally installation?
Our best integrators can set up one Pally robot before lunch. Depending on products, skills and difficulty of the projects, you may spend the rest of the day drinking coffee.
Can you help me with installing Pally?
We give online training in how to set up the systems. Most integrators find this sufficient, but for non experienced customers it might be nice to have a local UR representative to help you out.
Can Pally depalletize?
Not yet! We will definitely let you know when dPally is ready.
I have a special need, do you support special needs?
We might. If you have a good idea for a next feature for Pally, please let us know!
Do I need to worry about path planning for palletizing?
Usually not. If you have an unusual setup in your hardware, you might need to tune some of the parameters in the “advanced” tab. Please see the user manual for a detailed description of how these parameters affect the path planning and speed of Pally.
Do you offer vision technology with Pally?
Not out of the box, but we are working on it.
I want to integrate my sensors with Pally, is this possible?
Sure, just hook them up in the I/O ports in the UR.
Can Pally do a victory dance when a pallet is finished?
Yep, just add it into the “onPalletFinished” callback! You can flip tables, go crazy or just go to sleep.