Pally Official Software Download

Pally 3.4.0

This new release includes several improvements and bugfixes.

New features

OptiMove

It is now possible to use OptiMove motion control with Polyscope 5.21 and newer.
When opening existing programs, OptiMove is disabled, and can be enabled in the Pally / Movement / Speed tab.
When creating a new program, OptiMove is enabled by default.
For further information about OptiMove, please refer to the Polyscope 5.21 release notes:
https://www.universal-robots.com/articles/ur/release-notes/release-note-software-version-521xx/

Important bugfixes

• Fixed an issue where Gripper Optimization and Above Pickup settings were not visible when Easy Path Planning was selected.
• Fixed several issues related to running URScript-based wizard code (calibration test wizard, easy path planning wizard, etc.)

Other improvements

• Added a warning when conveyor dimensions are inconsistent, i.e. fixed guide width + calibration box width > total width.
• Added variables rf_cable_protection and rf_cable_protection_threshold to control Wrist 3 rotation direction.
• It is now enforced to run the Path Planning wizard when de-selecting the Easy Path Planning option.

Download the Pally 3.4.0 Software

Included in the Download:

• Pally 3.4.0 URCap
• Pally 3.4.0 User Manual

To download the Pally Software, you need to agree to the general terms and then press download.

Below, you can download the Pally User Manual:

Pally 3.3.2

Bugfixes and improvements:

• Added 5 kg extra payload for UR20 and UR30 robots with Polyscope 5.19 and newer.
• Added Turkish translation to the Operator Interface
• Fixed an issue with freezing GUI when loading an existing program without a valid license
• Fixed an issue where rf_foam_height was not properly taken into account when calculating vertical exit waypoint

Download the Pally 3.3.2 Software

Included in the Download:

• Pally 3.3.2 URCap
• Pally 3.3.2 User Manual

To download the Pally Software, you need to agree to the general terms and then press download.

Below, you can download the Pally User Manual:

Pally 2.12.1

NEW KEY FEATURES

• Active Service and Support plan
• Offline waypoint storage
• URCap version in the active program
• Grip quality
• Pallet Manager Deamon variable name and visibility

IMPORTANT BUG FIXES

• Fixed an issue where the approach distance was smaller than specified
• Fixed an issue where rf_P1_terminate and rf_P2_terminate did not terminate the corresponding pallet
• Fixed an issue where the program was not deterministic when using safety planes
• Fixed an issue where the robot stopped with “Joint position close to limit” on the return path
• Fixed an issue where the program stopped with an error message from Ewellix LiftKit version 1.2

OTHER CHANGES AND IMPROVEMENTS

• Improved grip-quality for pickup optimizer
• Imporved show mode
• Reorganized advanced tab
• Popup if vacuum sensor is not configured or not working properly
• PalletManager deamon variable name and visibility changes
• Missing values are indicated by a yellow color instead of red
• Using ‘smart acceleration’ will no longer result in extreme low accelerations

COMPATIBILITY NOTES

Please read the following compatibility notes carefully before
upgrading an existing Pally installation in production. Some changes in the recent versions may require new customer acceptance tests and/or modifications in the main robot program. Always make a full backup before upgrading.

• Ewellix LiftKit URCap compatibility

Some compatibility issues with Ewellix LIFTKIT URCap version 1.2.0 have been resolved. Users having Ewellix LIFTKIT URCap version 1.1.0 may receive the following false alarm “Pillar not in position – press Continue to retry” after pausing and resuming the robot while operating the lifting column. Users are advised to upgrade LIFTKIT to 1.2.0 or newer – provided by Ewellix.
https://www.ewellix.com/en/products/7th-axis-for-robot/liftkit/liftkit-ur

• Lifting column Dynamic Positioning

The lifting column optimizer behavior has been significantly changed from version 2.12.0. Calculated lifting column positions may be different from in previous versions. Existing projects that use Dynamic Positioning should be verified. Projects that directly modify the rf_lift_alt_boost and rf_lift_safe_down parameters are advised to set rf_lift_alt_boost_auto=False and verify the program.

SOFTWARE REQUIREMENTS

• URCap API version 1.12 or higher is required.
• CB-series: Polyscope version 3.15 or higher is required.
• E-series: Polyscope version 5.10 or higher is required.

Please don’t hesitate to contact our Support Team pally.urcap.support@rocketfarm.atlassian.net if you have questions!

Download the Pally 2.12.1 Software

Included in the Download:

• Pally 2.12.1 URCap
• Pally 2.12.1 User Manual

To download the Pally Software, you need to agree to the general terms and then press download.

Below you can download the Pally User Manual: