It is possible to extend the functionality with user-defined commands, which are automatically executed when specific events occur.
Currently the following events are available:
The initial MoveJ node: Executed once on startup, after all configuration variables have been initialized. This allows runtime configuration changes and special tuning.
beforePallet: Before starting a new empty pallet.
beforeZone: Before entering a new zone.
onNextTask: Before starting all calculations for the next box(es)
beforeGrab: Before lifting up a box from the pickup position.
afterGrab: After lifting up a box from the pickup position.
beforeRelease: Before releasing a box on the target position.
afterRelease: After releasing a box on the target position.
afterZone: After leaving a completed zone.
onSheet: When a shim paper needs to be inserted.
afterPallet: After the pallet is complete.
Read more about the callbacks here.