Pally Official Software Download
Download the latest and previous Official Pally Software Releases.
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.1.4.0
This version includes several new features and important bugfixes.
Important bugfixes
- Fixed multiple issues in the path planning calculations that could lead to a collision with existing boxes on the pallet,
- Fixed an issue where product names were incorrectly presented on the Operator Panel in Dual Product mode,
- Fixed an issue where no error message was displayed upon the unsuccessful import of a pattern or Pally program,
- Fixed an issue on the gripper page where dimensions could be lost,
- Fixed an issue on the calibration pages where the TCP RZ offset and gripper center of gravity were wrong,
- Fixed an issue on the operator panel where the statistics and remaining time were wrong while running a Pally program,
- Fixed an issue where it was not possible to export the calibration when using a custom mounted gripper,
- Fixed an issue in the running program where the error message was wrong,
- Fixed an issue where the PallyTCP rotation offset was incorrect,
- Fixed an issue where the tool center of gravity was incorrect,
- Layout and alignment issues fixed,
- Fixed an issue where the calibration points were exported with an incorrect name,
- Added missing translations.
Other improvements
- The user interface has been redesigned completely,
- Gripper total weight is now editable for all supported gripper types,
- Integration with Myrobot.cloud simulation engine,
- Increased smart exit input range,
- URScript code generator improvements.
Download the Pally URCapX 1.4.0 Software
Download the Pally URCapX 1.4.0 Software
Included in the Download:
- Pally 1.4.0 URCapX
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:
New features in Pally URCapX v1.4.0
Mechanical grippers
Pally now includes support for mechanical grippers, encompassing both clamp-type and fork-type designs. Users can now import gripper.json files, which are generated using MRC, for use in calibration and palletizing processes.
NOTE: Mechanical grippers are exclusively compatible with Pally programs created within the MRC environment.
Output toggles on POP
When the robot program is stopped, the operator can now control the robot’s standard, configurable, and tool digital outputs directly from the Operator Panel using toggle buttons. This capability simplifies operations by allowing the operator to easily release a gripper or manage other signals without needing to navigate away from the Pally operator screen. This feature is available in Pally under the Advanced / Operator page.
Graceful program termination
A new “Stop program” button has been added. Operators can now use this button to halt the program after the robot has finished palletizing the current box. Activating this feature will also automatically mark the current pallet as ‘finished’, ensuring the program resumes at the pattern selection screen upon its next start.
New business model
Pally licenses are now perpetual, and the “Active plan” has been entirely eliminated. This change means that access to advanced program features will no longer expire. Pally can be purchased in 3 different variants:
- Pally
- Pally Plus
- Pally Custom
NOTE: This upgrade requires a new license
Pally programs
Pally now supports Pally programs—pre-generated pattern files with all waypoints computed in the cloud. This enhancement eliminates the need for path planning calculations on the robot control box.
3D visualization of the actual pallet
A 3D representation of the current pallet layout is now displayed on the operator screen. This enhancement simplifies the configuration of partial pallets and provides real-time monitoring of pallet completion during the palletizing process.
Order management with multiple product types
You can now create and manage multiple orders, even if they contain different types of products.
Cloud synchronization
Real-time visibility of the current robot and palletizing status is now available in Myrobot.cloud.
Duplicate pattern
You can now duplicate an existing pattern and easily adjust the product’s height and weight without needing to re-generate the entire pattern layout. This feature streamlines the process of creating new patterns for products where only the height or weight has changed, allowing the same efficient palletizing pattern to be quickly reused.
Full backup
Pally backups are now available as compressed zip files. Each backup file is uniquely named, incorporating the robot’s serial number and the time the backup was created. The contents of the zip file include all patterns, the current license, the active URPX file, and the gripper.json file, if one exists.
Previous versions
Pally URCapX v.1.1.1
This version includes several new features and important bugfixes.
Important bugfixes
- Fixed multiple issues where input fields were covered by the on-screen keyboard on the UR teach pendant.
- Fixed an issue where the Confirm button in the Export menu was not enabled.
- Fixed an issue where the General Terms page did not appear.
- Deactivated the pattern verification database when running Show Mode.
Other improvements
- Inverse approach is enabled by default in the offline pattern editor.
- Inverse approach toggle added to the offline pattern editor.
- Added CMCO Phoenix lifting column to supported lifting column types.
- Pally default language is set according to PolyscopeX default language.
Download the Pally URCapX 1.1.1 Software
Download the Pally URCapX 1.1.1 Software
Included in the Download:
- Pally 1.1.1 URCapX
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:
New features in Pally URCapX
Pally URCap X is a URCap that integrates Pally’s proven palletizing logic, MyRobot.cloud’s cloud-based optimization, and Universal Robots’ new motion control system.
Features
Optimove
Pally is fully compatible with Universal Robot’s advanced motion control system, Optimove. This integration enhances palletizing efficiency by dynamically adjusting acceleration and deceleration throughout the robot’s movements. Optimove optimizes speed profiles to reduce vibration, minimize wear, and enable smoother, faster operation.
A redesigned GUI
The updated Graphical User Interface introduces a more intuitive and user-friendly experience, designed to streamline the workflow for both integrators and operators. Key processes like calibration and monitoring are now simpler and more transparent, while overall navigation has been optimized to require fewer steps.
Easier license handling
No need for license request file, just send the serial number of the robot, and we will provide you with the license
Offline pallet builder
Now it is possible to create pallet patterns directly on the teach pendant. The new pattern editor can be accessed from the Pally Operator Panel pattern selection screen.
Dual product mode
The program can now palletize 2 different products from 2 different conveyors on 2 pallets simultaneously. To enable this feature, select the operation mode ‘Dual product mode’.
Trade show mode
A new operation mode ‘Show mode’ has been added, which can be used to create a demo setup easily. The program moves boxes from one pallet to another and back. This mode is for demo purposes only and cannot be used in production environments.
72-hour instant license
Now it is possible to generate a 72-hour instant license and start configuring the palletizer immediately.
Translations
Pally is now available in 15 languages*, including Bulgarian, Czech, German, English, Spanish, French, Hungarian, Italian, Dutch, Norwegian, Polish, Portuguese, Slovak, Swedish, Turkish.
*Please note: some text is machine-translated and may contain errors.
MODBUS signals
Now it is possible to select MODBUS signals for input and output. After setting up the MODBUS communication in Polyscope X, the signals can be selected in the Pally IO drop-downs.
Compatibility notes
There are no known compatibility issues for Pally URCapX v.1.0.1
Software requirements
- Polyscope X version 10.8 or later
Pally URCap
Pally for Polyscope 5
Latest version
Pally URCap 3.4.3
This version includes the following improvements.
- added Danish translation
- added UR8Long max. payload
Download the Pally URCap 3.4.3 Software
Included in the Download:
- Pally 3.4.3 URCap
- Pally 3.4.3 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:
Previous versions
Pally URCap 3.4.2
This version includes several important bugfixes and other improvements.
Important bugfixes
- fixed an issue where Easy Path Planning provided incorrect smart exit values in Dual Product Mode
- fixed an issue where too many log messages appeared in the system log, even if the Pally log level was set to Error
- fixed an issue where an incorrect error message was shown when the box position on the pallet was out of reach
- fixed an issue where the calibration test wizard did not start
- fixed an issue where program execution was blocked after upgrading the URCap without an active plan
- fixed an issue where the Pallet Manager working directory was not initialized prior to executing custom code in the MoveJ StartPosition node
Other improvements
- added UR15 max. payload
Pally URCap 3.4.0 release notes
This new release includes several improvements and bugfixes.
New features
OptiMove motion control
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 URCap 3.4.2 Software
Included in the Download:
- Pally 3.4.2 URCap
- Pally 3.4.2 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-robots/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:
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.