This example demonstrates how to use the robot while Pally is idle.
Pally generates a complete program with an infinite palletizing loop, but it can be interrupted by controlling the pick signals as described in Software controlled inputs . The robot can be safely controlled from another thread while Pally is waiting for a new product.
First create some functions that control the Pally pick signals and wait for the specific Pally state (box picked, box completed) then use your own thread to do some idle tasks and activate Pally whenever a box is present.
