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Table of Contents
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In Short: MovePerformed

MovePerformed

A boolean value that Pally uses to check if it should move the robot on the path created by Pally.

Possible values

  • True - Pally will NOT move the robot on the path created by Pally.

  • False - Pally will move the robot on the default calculated path. This is the default value.

Note

The variable must be set to True in the onNextTask-, afterGrab- and afterRelease-callbacks if the custom path feature is in use for the corresponding robot movement.

Example

  • Use the Assignment program node directly in Polyscope, or

  • Write URScript code directly:

    • movel(MoveTarget)

    • MovePerformed = True

In Detail: MovePerformed

The MovePerformed variable is only of importance when the custom path feature is in use. If this boolean variable is set to True, then Pally will skip its next planned movement. Depending on where the variable is set to True the following movements will be skipped:

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