Pally idle time

This example demonstrates how to use the robot while Pally is idle.

Understanding the idle time between Pally cycles

Pally generates a complete program with an infinite palletizing loop, but it can be interrupted by controlling the pick signals as described in Software controlled inputs . The robot can be safely controlled from another thread while Pally is waiting for a new product.

How to use

Create your own thread where you implement custom tasks for the robot, e.g. filling the cardboard boxes with chocolate bars or performing a simple dance.

Create some functions that control the Pally pick signals and wait for the specific Pally state (box picked, box completed) then use your own thread to do some idle tasks and activate Pally whenever a box is present.

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helper functions to activate Pally via software pick signal and wait for completion

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set a new variable indicating Pally completion state 1 (box picked) in afterGrab

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set a new variable indicating Pally completion state 2 (box completed) in afterRelease

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process the real ‘physical’ product sensor signal value in a separate thread

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when a box is available, activate Pally and wait for box completion, otherwise do idle tasks (let’s dance)