...
Name
...
Description
...
Use
...
rf_product_weight
...
Product weight of selected pattern
...
Define global variable with same name to get data
global rf_product_weight=0
...
The pattern JSON files are managed by a background process called “pallet manager daemon” which provides many essential functions for the rest of the program.
The functions should be called from URScript code in the following format:
result = palletmanager_daemon.any_function(parameters)
How to get and use Pallet or Product data during palletizing project
Name | Description | Variables from request | Callback Placement | |
palletDim = palletmanager_daemon.get_pallet_dimensions(0) | Get Pallet data from selected Pattern | pallet_width = pallet_dimpalletDim[0] / 1000 pallet_length = pallet_dimpalletDim[1] / 1000 pallet_height = pallet_dimpalletDim[2] / 1000 | Pallet data from selected Pattern | product_dim beforePallet |
productDim = palletmanager_daemon.get_product_dimensions(0) | Get Product data from selected Pattern | product_width = product_dimproductDim[0] / 1000 product_length = product_dimproductDim[1] / 1000 product_height = product_dimproductDim[2] / 1000 product_weight = product_dimproductDim[3] / 1000 | beforePallet | |
global variables created | MoveJ | |||
Define global variable with same name to get data
Example:
Place code for getting Pallet or Product data
...
in beforePallet Callback
...
Define variable(s) you would like to access under MoveJ(must be global)
...
Note: name of variable you would like to access must be identical to variable from request(see top)
Get information about the current pallet state:
Name | Description | Variables from request | Callback Placement |
palletState = palletmanager_daemon.get_pallet_state(0) | Get Pallet completion state during palletizing. The function returns an array with 3 elements, in this order:
*The boxes currently being picked are not counted as completed or remaining. | nr_total = palletState[0] |
|
Example:
Get the number of boxes being picked:
palletState = palletmanager_daemon.get_pallet_state(0)
next_boxes = palletState[0] - palletState[1] - palletState[2]
is_single_pick = (next_boxes == 1)