Bring the robot to a home position before moving an lifting column up or down
- Bent Martin Dyrdal
For more information on custom path visit: rf_custom_path
When using the lifting column with “dynamic positioning” - define your own “custom path” functions to take full control of the robot and lifting column motion.
Add code in beforeGrab, afterGrab, afterRelease callbacks to control the robot and the lifting column as you want. (MountPosition and MoveTarget contains the targeted lifting column elevation and robot position)
When not using dynamic positioning the robot will move automatically to a safe home position before operating the lifting column. The safe home position is defined in
Program → Pally → Movement: Default Waiting Position.
This can be the easiest solution if the pallets are doable without lifting column dynamic positioning (pick position must be within reach from the lowest and highest lift position).