Release Strategy
- Csaba Mucsi
- Lars Martin Gjeraker (Unlicensed)
After placing the box on the pallet, you have the option to remove or add waypoints with the release strategy variable.
Code to add in the Callbacks
rf_release_stratagy = “Binary Number”
← Robot movement after placement of the box: (Default Bit=7):
Vertical exit point → Extra waypoint → Smart Exit → Above pickup -->Pickup position
→ Robot movement to place the box on a pallet:
Pickup position → Box free height → Smart Exit → Extra waypoint (max 3) → Approach Position → Target Position
Binary Number | Description |
|---|---|
1 | Removes box free height waypoint |
2 | Removes target position waypoint |
4 | Add vertical exit after box placement waypoint |
8 | Removes approach waypoint |
16 | Removes everything after Smart Exit waypoint |
Pally has a default rf_release_strategy=7
That will include
Removes box free height (1)
Remove target position (2)
Add vertical exit (4)
Example
Release strategy 7 added for the hole program
Release strategy 7 added for after specific box