Page Comparison

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1. Lifting column position for picking next box from conveyor: p[0, 0, l₁, 0, 0, 0]

2. Lifting column position for placing next box on pallet: p[0, 0, l₂, 0, 0, 0]

3. Lifting column position for waiting position according to current zone: p[0, 0, l₃, 0, 0, 0]

MoveTarget and MountPosition in the Pally program

The following code fragment shows how the MoveTarget and MountPosition is being used in Pally: 

global MoveTarget = p[...]
global MountPosition = p[...]
global MovePerformed = False

# USERCALLBACK
usercallback_afterGrab()

if (not MovePerformed):
  # commands that move the robot and lifting column
  [...]
end

# USERCALLBACK
usercallback_beforeRelease()

If MovePerformed is set to True in the afterGrab-callback, then Pally will not call on the function to move the robot to the target position

MoveTarget and MountPosition in Custom Path

The MoveTarget and MountPosition variables are useful whenever the custom path feature is in use. As described in Customize the Robot's Path , the custom path feature requires you to define two functions that will move the robot to the target position and back from the target position. These functions, which may be called MoveToTarget() and MoveBack() respectively, should use the MoveTarget variable as the target position for the robot.

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