Csaba Mucsi Could you elaborate more on this topic?
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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 |
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rf_release_stratagy = |
...
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
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“Binary Number” |
| Info |
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← 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 |
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Pally has a default rf_release_strategy=7 That will include
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| Info |
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Add the numbers together to use several of the option |
| Tip |
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Example
Release strategy 7 added for the hole program
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Release strategy 7 added for after specific box