After placing the box on the pallet, you have the option to remove or add waypoints with the release strategy variable.
Code to add rf_release_stratagy = “Bit 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 → Approach Position → Target Position
Bit | Description |
|---|---|
0 | Removes box free height waypoint |
1 | Removes target position waypoint |
2 | Add vertical exit after box placement waypoint |
3 | Removes approach waypoint |
4 | Removes everything after Smart Exit waypoint |
Pally has a default rf_release_strategy=7
That will include
Removes box free height (0)
Remove target position (1)
Add vertical exit (2)
Add the Bits together to use several of the option
Example
Release strategy 7 added for the hole program
Release strategy 7 added for after specific box