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To run Pally without the teach pendant we recommend using the Order Processing functions, deactivate the Operator Interface, and Redirect all Popups using registers. During progra program run it is also possible to send a detailed progress report via Callbacks.
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It is recommended to select Operator Interface: “None”. This will instruct the code generator to exclude all script functions related to the Pally operator interface. As a result, the robot program will be shorter, and start faster.
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This will instruct the Pally program to get the pattern name and requested number of boxes from the Order Management API. The program will keep running until terminated by external control signals or a fatal error occurs.
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The pallet confirmation signal must go from LOW to HIGH and remain HIGH for at least 300 msec to confirm a new empty pallet. |
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Use Callbacks to report the current progress back to the external control system. Use the global Pally variables such as ProductName, PalletNr and ProductCount. You can also get more detailed information via from the Pallet Manager Daemon.
Suppress popups
It is possible to suppress Pally popups and use IO registers to indicate an error/warning. An integer code and an optional integer parameter is provided.
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def find_pattern_by_nr(pattern_number):
# convert number to string with zero padding
local p_str = str_cat("0000", pattern_number)
# make sure the string is not longer than 4 digits
p_str = str_sub(p_str, str_len(p_str)-4, 4)
local nr_patterns = palletmanager_daemon.init_pattern_cache()
local pattern_nr = 0
while (pattern_nr < nr_patterns):
local file_name = palletmanager_daemon.get_file_name(pattern_nr)
textmsg("Testing pattern name: ", file_name)
if (str_len(file_name) >= 6):
if (str_sub(file_name, 2, 4) == p_str):
textmsg("Found pattern name: ", file_name)
return file_name
end
end
pattern_nr = pattern_nr + 1
end
return ""
end
def do_insert_order():
local instance = opcua_server_read_byname("INSTANCE")
local pattern = opcua_server_read_byname("PATTERN")
local boxes = opcua_server_read_byname("BOXES")
local pattern_name = find_pattern_by_nr(pattern)
local result = 0
if (pattern_name != ""):
local nr_orders = palletmanager_daemon.get_nr_orders(instance)
if (palletmanager_daemon.insert_order(instance, nr_orders, "SOME_ID", "My Order", pattern_name, [1, boxes])):
textmsg(str_cat("Inserted order ", pattern_name), str_cat(" with boxes ", boxes))
result = 1
end
end
return result
end
def do_terminate_pallet():
local result = 0
local instance = opcua_server_read_byname( "INSTANCE")
if (instance==0):
rf_P1_terminate = True
rf_P2_terminate = True
result = 1
end
return result
end
def do_delete_orders():
local instance = opcua_server_read_byname("INSTANCE")
local result = 0
if (palletmanager_daemon.clear_orders(instance)):
result = 1
end
return result
end
thread OpcPallyThread():
local command = ""
local can_go = True
while (can_go):
local last_command_seqno = opcua_server_read_byname("COMMAND_SEQNO")
local command_seqno = last_command_seqno
while (command_seqno == last_command_seqno):
sleep(1)
command_seqno = opcua_server_read_byname("COMMAND_SEQNO")
end
last_command_seqno = command_seqno
command = opcua_server_read_byname("COMMAND")
local result = -999 # command not supported
if (command == "NEW_ORDER"):
result = do_insert_order()
elif (command == "TERMINATE_PALLET"):
result = do_terminate_pallet()
elif (command == "DELETE_ORDERS"):
result = do_delete_orders()
elif (command == "EXIT"):
can_go = False
result = 1
end
opcua_server_write_byname("COMMAND_RESULT", result)
opcua_server_write_byname("COMMAND_RESULT_SEQNO", command_seqno)
end
# received EXIT command, terminate program
halt
end
opc_pally_thid = run OpcPallyThread() |
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The example is not suitable for Dual Product mode. |
Palletizing progress via OPC UA
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Current limitations
Some popups cannot be suppressed.
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