Pally General - Callbacks

With callbacks, you can extend the functionality of Pally to your needs.

Your Waypoints or custom code in the Callback will automatically be executed when that specific events occur.

Some typical use examples for Callbacks are:

• Turning the conveyor on/off

• Add a shim paper routine

• Perform custom moves on the robot

  • Sort out bad boxes

  • Scan the barcode on a box

  • special pickup motion

• Signal external machines

And many more…

In the flowchart below, you can see how Pally moves through the program, and you can see where the different callbacks appear.

Open

Executed once on startup, after all configuration variables have been initialized. This allows runtime configuration changes and special tuning.

Before starting a new and empty pallet. This node is typically used to report the status to a production system. Use this node to start the conveyor or any other machinery.

Before entering a new zone (typically a new layer on the pallet)

Before starting all calculations for the next pick and place, the calculation parameters can be altered here. Set MovePerformed=True here to use a custom path towards the pick position. Use this node to modify path planning parameters dynamically.

Before picking the box in the pickup position, the start position for this callback is the calibrated pick position. If you want to create a custom movement towards the actual pick position, you can calibrate the Pally pick position above the product and then use a custom path towards the actual pickup position. Use this node to turn on the vacuum custom gripper or close the mechanical gripper after the custom move is performed. You can use this node to stop the conveyor.

After picking the box in pickup position (gripper is placed onto the box). Commands that move the robot from the pick position to the target position should be inserted here when a custom path is in use. You can use this node to start the conveyor after picking the product

Before releasing a box on the pallet (target position). Use this node to turn off a custom vacuum gripper or open a mechanical gripper

After releasing a box on the pallet (target position), use this node, e.g., to report the progress to a production supervisor system. Commands that move the robot back from the target position should be inserted here when a custom path is in use.

After leaving a completed layer or zone.

When a shim paper needs to be inserted, add your own manual waypoints to the shim/slip paper tray, pick the paper, and move to a position over the pallet where the paper should be placed.

After the pallet is completed, use this node, e.g., to turn on a warning light or show a pop-up message so that the operators can replace the pallet. Use this node to stop the conveyor or any other machinery.