The pattern JSON files are managed by a background process called “pallet manager daemon” which provides many essential functions for the rest of the program.
The functions should be called from URScript code in the following format:
result = palletmanager_daemon.any_function(parameters)
How to get and use Pallet or Product data during palletizing project
Name | Description | Variables from request | Callback Placement |
palletDim = palletmanager_daemon.get_pallet_dimensions(0) | Get Pallet data from selected Pattern | pallet_width = palletDim[0] / 1000 pallet_length = palletDim[1] / 1000 pallet_height = palletDim[2] / 1000 | beforePallet |
productDim = palletmanager_daemon.get_product_dimensions(0) | Get Product data from selected Pattern | product_width = productDim[0] / 1000 product_length = productDim[1] / 1000 product_height = productDim[2] / 1000 product_weight = productDim[3] / 1000 | beforePallet |
global variables created | MoveJ | ||
Define global variable with same name to get data
Example:
Place code for getting Pallet or Product data in beforePallet Callback
Define variable(s) you would like to access under MoveJ(must be global)
Note: name of variable you would like to access must be identical to variable from request(see top)
Get information about the current pallet state:
Name | Description | Variables from request | Callback Placement |
palletState = palletmanager_daemon.get_pallet_state(0) | Get Pallet completion state during palletizing. | nr_total = palletState[0] |
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Example: Get the number of boxes being picked:
palletState = palletmanager_daemon.get_pallet_state(0)
next_boxes = palletState[0] - palletState[1] - palletState[2]
is_single_pick = (next_boxes == 1)