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How to change "Exit" point in palletize template.
/ Most recent by zoddman
zoddman Posts: 10 Apprentice
Hello, I'm using the pallet template but sideways. I have a magazine of packaging sticks. 4 columns of 9 sticks high. I discovered that the "Exit" waypoint in the template which says it's fixed is not really fixed in space but fixed to the pick. The problem is when I exit I need to be clear of the vertical aluminum framing holding the sticks before moving on. The top row works perfect but as I move down the exit drops with it. I'm still pretty new to all this but obviously I need to make that exit waypoint some sort of variable but unclear as exactly how to do it. Thanks in advance for any advice here.
David_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 190 Handy
You could also use a relative move in an if continuously check that track the elevation in the z position
In a thread, you could have an assignment that tracks the current tcp position
then in your program it should look something like that
I haven't tried it but i assume it should work