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Pally URCapX
Pally URCap

Pally URCapX

Pally for Polyscope X. Pally URCap X integrates Pally’s proven palletizing logic, MyRobot.cloud’s cloud-based optimization, and Universal Robots’ new motion control system.

Latest version

Pally URCapX v 1.5

New Features

Recovery on program start: guided, automated, and custom recovery modes. Used after protective stops, etc.
Depalletizer operating modes; needs its own depal licence.
Calibration-aware Pally Programs: Programs are filtered and flagged by calibration in the Programs tab and in the Pally Operator Panel product selection. So only the Pally Programs generated with existing calibration are available in Pally Operator Panel.
Pallet calibration adjustment wizard, for easy moving and rotating a calibrated pallet.
Approach speed on pick and drop: You can now set a lower speed and acceleration at pickup, the same way as you would on placing the product. Checkboxes on the Speed tab. Approach speed and acceleration can never exceed the maximum values. A warning appears when the maximum acceleration is set above 50%.
Configurable retract vector (rf_retract), defined alongside the approach position. This controls how high Pally lifts the gripper after placing the product.
Lifting columns: DIY (write-your-own-code) lifting column, gated by the diyLift licence option. You will need a special license for this. Just contact Rocketfarm for the option. Lifting column support in Pally Programs. Optional feedback inputs for the generic lifting column.
Headless Pally: Run Pally without the GUI. Contact Rocketfarm for additional details and a license.
Custom inertia matrix for large grippers, and floating-point dimensions and CoG.
Shim paper: a skeleton routine is autogenerated under the onSheet callback. Simplifies the generation of ship paper routines.
Dark theme: Pally follows the PolyScope X theme.
Pally URCapX version information is shown in the URCapX.
Native OnRobot 2FGP20 mechanical (clamp) gripper. Includes clamp-aware TCP and path planning, a clamp-specific above-pickup position, and a shipped gripper definition (no USB import needed). For mechanical grippers, create patterns and Pally Programs in MyRobot.cloud.

Download the Pally URCapX 1.5 Software

Included in the Download:

Pally 1.5 URCapX

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

PS! Some users experience issues with the software download button. If you receive an error message when trying to download a new version, please refresh your browser and try again. If the problem persists, please contact us at contact@rocketfarm.no. We apologize for the inconvenience.

Below, you can download the Pally User Manual:

Download Pally User manual

Known limitations:
Local path planning on the robot for patterns has known limitations with the clamp gripper. We recommend generating Pally Programs with the cloud-based collision-free path planning in MyRobot.cloud.
We recommend creating patterns for mechanical grippers with the advanced pattern editor in MyRobot.cloud. The local pattern editor on the Pally operator panel does not include the features needed for mechanical-gripper patterns, so Create pattern is hidden on the Pally operator Panel for mechanical grippers.
Platform and dependency updates.

NOTE: PolyScope X 10.13 or above is recommended for Pally PSX v1.5.

Looking for a previous version?

Reach out to us – we’re happy to help.

Pally URCap

Pally for Polyscope 5.

Latest version

Pally URCap 3.5.1

Bugfix release. No new features or behavior changes beyond the fix below.

Bugfixes

Smart Acceleration slider showed a stale value — On the program node’s Speed tab, the Smart Acceleration slider always opened at the midpoint (“Normal”) instead of the value stored in the program, because the slider was registered twice under the same datamodel key and only the hidden copy got initialized. The visible slider now reflects the saved setting. In addition, when Optimove is enabled — where the slider is hidden — the generated program no longer inherits the stale hidden value: rf_min_grip_quality is emitted as the neutral “Normal” default (1.6), matching the slider’s visibility gating.
Impact: In classic speed mode, the fault was display-only — the stored value was still used to generate the program, and upgrading restores the correct slider position. The stored value was only lost if an operator dragged the misleading slider, so programs edited on the Speed tab since 3.5.0 are worth re-checking.

New Features in Pally URCap 3.5.0

Approach speed/acceleration at the pick position — Two new checkboxes on the program node’s Speed tab control whether the (existing) approach speed/acceleration is used when approaching the pick position and the drop position. Both options default on, so after upgrading the pick is approached more gently.
Single-zip full backup to USB
Controller logs included in the backup — The full backup zip now contains a logs/ folder with the controller log files we routinely need for diagnostics (log_history, polyscope.log, and the URControl log as urcontrol.log).
Reworked license handling with clearer license info, with more comprehensive details and a smoother user experience.

Improvements in Pally URCap 3.5.0

Boxes now travel on a true linear path — During loaded transport the box’s own reference frame is applied as the active TCP, so the box itself moves linearly instead of sweeping an arc while only the gripper moves straight.
Faster path planning (Reach-check + lifting-column performance work)
Accurate reach check is now the only reach check. The accurate inverse-kinematics check is now always used.
Smart-exit / non-shadow waypoint kept inside the work area — The waypoint search is now constrained to the pallet footprint plus the configured smart-exit rectangle, so candidates no longer land outside the pallet zone (e.g. into a shim-paper tray).
Smart-exit ranks candidates by joint motion, not 3D distance.
Custom gripper centre-of-gravity read from get_target_payload_cog.
Payload inertia preserved — switched to set_target_payload() so the custom payload inertia matrix is no longer reset to zero.
Configuration changes allowed in BeforePallet / BeforeZone — waypoint database initialization moved later in pallet.script.
Clearer calibration warnings and logs when calibration has changed since the last run.
Updated UniGripper mini/maxi dimensions to match the latest specs.
rf_joint_deviation_err tolerance loosened from 0.0001 to 0.0002.
rf_cable_protection_threshold default raised to 30 — now consistent with the Pally PSX default.
TerminateBlendingMotion rewritten for more reliable blend-motion termination.
Simulation/engineering tooling: new UpdateGripperTCP function in RDKSim and the RoboDK simulation script; lifting-column simulation last-position fixes.

Compatibility note in Pally URCap 3.5.0

CB3 robots on PolyScope firmware below 3.15 are no longer supported. Runtime payload handling now uses set_target_payload() which requires PolyScope ≥ 3.15 on CB3. All e-Series (5.x) robots are unaffected.

Download the Pally URCap 3.5.1 Software

Included in the Download:

Pally 3.5.1 URCap
Pally 3.5.1 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:

Download Pally User manual

Looking for a previous version?

Reach out to us – we’re happy to help.

Can’t find what you’re looking for?

Visit our Pally Release Notes for detailed information on the current and past versions of Pally Software.