Pally Official Software Download

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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.1.4.1

Important bugfixes

Fixed an issue where physical pallet confirmation signals did not update the confirmed state on the operator panel
Fixed an issue where it was possible to proceed without saving partial pallet values
Fixed an issue where the program stopped with an exception when a Pally Program was incompatible with the current setup
Fixed an issue where the TCP was incorrect for the waiting position
Fixed an issue where the pallet state switched back from Terminating to Progress after the last AfterRelease action
Reviewed and updated the Unigripper CoLight gripper dimensions
The MRC connectivity checkbox made visible
Inappropriate icons for box dimensions replaced on the operator panel
Navigation bar item ‘Pally Pattern’ renamed to ‘Pally Patterns’ to be consistent with the rest of the application
Minor fix in path planning calculations

Download the Pally URCapX 1.4.1 Software

Included in the Download:

Pally 1.4.1 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

Pally URCapX v1.4.0 Features

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.

Looking for a previous version?

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

Pally URCap

Pally for Polyscope 5.

Latest version

Pally URCap 3.5.0

New Features

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

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

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 3.5.0 Software

Included in the Download:

Pally 3.5.0 URCap
Pally 3.5.0 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:

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.