After placing the box on the pallet, you have the option to remove or add waypoints with the release strategy variable.
Code to add in the Callbacks
| Code Block |
|---|
rf_release_stratagy |
...
remove box free
rf_release_stratagy = 1
remove target position
rf_release_stratagy = 2
use vertical exit path
rf_release_stratagy = 3
remove approach point
rf_release_stratagy = 4
remove everything after smart-exit point
...
rf_release_stratagy = 5
...
rf_release_stratagy = 6
rf_release_stratagy = 7
| Info |
|---|
Default selected |
| Rw ui textbox macro |
|---|
rf_release_strategy = 0 = “Binary Number” |
| Info |
|---|
← Robot movement after placement of the box: (Default Bit=7): Vertical exit point → Extra waypoint → Smart Exit → Above pickup -->Pickup position |
| Info |
|---|
→ Robot movement to place the box on a pallet: Pickup position → Box free height → Smart Exit → Extra waypoint (max 3) → Approach Position → Target Position |
Binary Number | Description |
|---|---|
1 | Removes box free height waypoint |
2 | Removes target position waypoint |
4 | Add vertical exit after box placement waypoint |
8 | Removes approach waypoint |
16 | Removes everything after Smart Exit waypoint |
| Note |
|---|
Pally has a default rf_release_strategy=7 That will include
|
| Info |
|---|
Add the numbers together to use several of the option |
| Tip |
|---|
|
Example
Release strategy 7 added for the hole program
...
Release strategy 7 added for after specific box