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Vertical exit is also needed when using a Pinch gripper. This can easily be added to the program by adding the following code to the initial moveJ. Change Release strategy to 2 will allow Pally to use vertical exits.

Vertical exit is the default setting in Pally, and the total length of the vertical motion can be controlled by the parameter rf_foam_height (also works for pinch grippers).

Just add the following code in the initial MoveJ StartPosition (example):

rf_foam_height = 0.18

Vertical exit is active only if bit 2 is set in the rf_release_strategy variable. Read more about release strategy here - Release Strategy

Just add the following code in the initial MoveJ StartPosition (example):

rf_release_strategy = 26

Setting up the pattern

To create the pattern, it is suggested to use an inverted approach. (see picture below) This enables Pally to begin working from the side closest to the robot and move outwards, ensuring that the gripper always has enough space to open.

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You can also use the “Customize box index” to arrange the boxes the way you want them, to ensure you always have free space to open the pich gripper. See picture below

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To prevent collisions, it is suggested to lock the boxes. (see picture below) This will ensure it is always placed in the same positions. To make this easier to visualise, enable Lable orientation; this will show you how the boxes are facing.

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