Create pattern groups for use in multiple programs
- Csaba Mucsi
- Roger Almaas
In typical setups, there is one robot program (URP) for palletizing, but sometimes you’ll need to switch between multiple programs. This can occur for example, when different box types requires different grippers. Some boxes can be picked with a vacuum gripper, others with a clamp gripper. In such situations, it is desirable to separate pallet patterns so the operators won’t see those that are not suitable for the current program.
Pattern storage location
Pally supports custom working directories where patterns can be stored. The default location for patterns is “/programs/patterns” in the Linux file system, but can be changed in the Installation / Patterns tab.
You should create separete programs and installations for each different setup (e.g. one for the vacuum gripper and one for the clamp gripper.) This can be done by pressing “Save” and selecting “Save program as…” and “Save installation as…”
Once you have the corresponding installation and program files created, you can set individual pattern storage locations for each installation.
Please note: it is possible to change the pattern storage location only when the Pallet Manager daemon is not enabled.
Open a Linux terminal by connecting a USB keyboard to the teach pendant and pressing Ctrl-Alt-F1. Alternatively, you can connect via ssh. The user name is “root” and the default password is “easybot” unless you have changed it already.
In the Linux terminal, create a new pattern storage directory:
cd /programs
mkdir {the name of the new directory}
cd {the name of the new directory}
mkdir pathStorage
cd ..
Go to Installation / Pally / Patterns, and set the pattern storage directory.
To switch from the Linux terminal to Polyscope, press Ctrl-Alt-F7
If you have already some patterns that you want to move, go to the Linux console and enter the following commands:
cd /programs/patterns
mv {name of the pattern}.json ../{name of the new folder}
mv pathStorage/{name of the pattern} ../{name of the new folder}/pathStorageRepeat this step for all patterns that you want to move.
Then return to Polyscope, enable the Pallet Manager Daemon, and check the contents of the new storage directory.
Now you have a new pattern storage directory that contains only the patterns suitable for this specific program and installation.
Switching back to the other program, the remaining patterns are visible, but not the one you have moved.