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Table of Contents
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In Short: TaskCompleted

TaskCompleted

A boolean value that controls whether the main Pally program should proceed to the next box position on the pallet, or repeat the same box position again. This is useful in the following scenarios:

  • advanced logic is required to evaluate if the gripper has lost the box before reaching the pallet, or

  • move some of the boxes to a separate place other than the pallet, e.g. after a quality check routine (usually in combination with custom path that moves the exceptional boxes away)

The variable should be controlled by the user code in the beforeRelease-callback if required:

Possible values

  • True - Box has reached the target position on the pallet, the program can proceed to next box.

  • False - Box has not reached the target position, the program should repeat the same position.

The default value is True unless lost vacuum is reported by the “vacuum lost” signal.

Example

  • Use the Assignment program node directly in Polyscope, or

  • Write URScript code directly:
    if (...): # barcode reading failed
    movel(...) # move the damaged box to the thrashcan
    TaskCompleted = False # box has not reached the pallet
    end

In Detail: TaskCompleted

The boolean variable TaskCompleted is used to verify that the robot has placed box(es) on the pallet, and the program can proceed to the next position or not.

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As shown in the code snippet from above, setting the TaskCompleted = True in the beforeRelease-callback, will ensure that all movements of the robot are treated as successful runs - where Pally assumes that the boxes in the current task have been placed on the pallet. If TaskCompleted = False after the beforeRelease-callback, then Pally will not count the current task as completed. This will lead to Pally re-trying to place the box(es) in the current task.

Info

Please note: the TaskCompleted variable cannot be used along the path from the pick position towards the drop position. The first callback where TaskCompleted has a valid value is BeforeRelease.

Info

Please note: even if a box is lost on the way from the pick position to the drop position, the robot will continue its motion to the drop position. Vacuum sensor is not being monitored constantly along the path. To do this, you can create your own thread and monitor the vacuum sensor input directly.