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To make a palletizer program, you’ll need to open the Task Editor.
Init Pally program node
This node is optional. You can configure callbacks and get access to the Pally context via this node.
Define Pally context global variable
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This is required in order to access the Pally variables. |
Define a global variable for Pally and initialize it to 0. The examples here use Global_pally_context.
Set up callbacks
Create your own subroutines that will be called at specific events during palletizing. Enter the name of each subroutine in the corresponding edit-box, or leave the edit box empty.
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beforePallet: Before starting a new empty pallet.
beforeZone: Before entering a new zone.
onNextTask: Before starting all calculations for the next box(es)
beforeGrab: Before lifting up a box from the pickup position.
afterGrab: After lifting up a box from the pickup position.
beforeRelease: Before releasing a box on the target position.
afterRelease: After releasing a box on the target position.
afterZone: After leaving a completed zone.
onSheet: When a shim paper needs to be inserted.
afterPallet: After the pallet is complete.
Access the Pally context
The Init Pally program node will return a variable called Global_pally_context which points to an object with configuration data inside the Pally module.
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