If you have not read the information explaining the custom path feature, then please refer to this page before reading onwards: Customize the Robot's Path

This page gives a short overview of the variable MovePerformed; and then a more in depth look at how the variable can be used in Pally:

In Short: MovePerformed

MovePerformed

A boolean value that Pally uses to check if it should move the robot on the path created by Pally.

Possible values

True - Pally will NOT move the robot on the path created by Pally.
False - Pally will move the robot on the default calculated path. This is the default value.

The variable must be set to True in the onNextTask-, afterGrab- and afterRelease-callbacks if the custom path feature is in use for the corresponding robot movement.

Example

Use the Assignment program node directly in Polyscope, or
Write URScript code directly:
- movel(MoveTarget)
- MovePerformed = True

In Detail: MovePerformed

The MovePerformed variable is only of importance when the custom path feature is in use. If this boolean variable is set to True, then Pally will skip its next planned movement. Depending on where the variable is set to True the following movements will be skipped:

onNextTask: skip movement to the pick position (available in Pally 2.9.0 and later)
afterGrab: skip movement from the pick position to the target position on the pallet
afterRelease: skip movement from the target position back to the waiting position

of the robot to- and from the pickup position, to the target position (and back again).

In the Pally code, the logic looks like this:

global MovePerformed = False

# USERCALLBACK
usercallback_onNextTask()

if (not MovePerformed):
  MoveToPickup(path)
end

# USERCALLBACK
usercallback_beforeGrab()

If MovePerformed is set to True in the onNextTask-callback, then Pally will not call on the function to move the robot to the pick position

global MovePerformed = False

# USERCALLBACK
usercallback_afterGrab()

if (not MovePerformed):
  MoveToTarget(path)
end

If MovePerformed is set to True in the afterGrab-callback, then Pally will not call on the function to move the robot to the target position

global MovePerformed = False

# USERCALLBACK
usercallback_afterRelease()

if (not MovePerformed):
  MoveBackFromTarget(path)
end

If MovePerformed is set to True in the afterRelease-callback, then Pally will not call on the function to move the robot back from the target position

The following example of a customPath.script shows how the MovePerformed variable is set to True at the end of the customized move functions, on lines 80 and 94:

An example of a customPath.script, notice the use of MovePerformed at lines 80 and 94

To review how to use the custom path feature, refer to Customize the Robot's Path .