Csaba Mucsi Could you elaborate more on this topic?
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Short introduction.. |
After placing the box on the pallet, you have the option to remove or add waypoints with the release strategy variable.
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Code to add rf_release_stratagy = “Bit number” |
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← Robot movement after placement of the box: (Default Bit= |
...
Explanation
rf_release_stratagy = 1
rf_release_stratagy = 2
rf_release_stratagy = 3
rf_release_stratagy = 4
rf_release_stratagy = 5
rf_release_stratagy = 6
rf_release_stratagy = 7
...
7): Vertical exit point → Extra waypoint → Smart Exit → Above pickup -->Pickup position |
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→ Robot movement to place the box on a pallet: Pickup position → Box free height → Smart Exit → Extra waypoint → Approach Position → Target Position |
Bit | Description |
|---|---|
0 | Removes box free height waypoint |
1 | Removes target position waypoint |
2 | Add vertical exit after box placement waypoint |
3 | Removes approach waypoint |
4 | Removes everything after Smart Exit waypoint |
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Pally has a default rf_release_strategy=7 That will include
|
| Info |
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Add the Bits together to use several of the option |
Example
Release strategy 7 added for the hole program
...
Release strategy 7 added for after specific box