After placing the box on the pallet, you have the option to remove or add waypoints with the release strategy variable.
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Code to add in the Callbacks
| Code Block |
|---|
rf_release_stratagy = “Bit number” = “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 |
BitBinary Number | Description |
|---|---|
01 | Removes box free height waypoint |
12 | Removes target position waypoint |
24 | Add vertical exit after box placement waypoint |
38 | Removes approach waypoint |
416 | Removes everything after Smart Exit waypoint |
| Note |
|---|
Pally has a default rf_release_strategy=7 That will include
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| Info |
|---|
Add the Bits 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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