How to change "Exit" point in palletize template.

zoddman

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

Hi @zoddman, 
You should then put your exit point outside of the pallet template. 

zoddman

That makes for a lot of "If" conditions for a 4 X 9 stack, but that could work. I'll try. Thanks.

David_Gariepy

@zoddman
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

Thread_1
current_pos=get_actual_tcp_pose()
current_z_pos = current_pos[2]
sync()

then in your program it should look something like that 

If current_z_pos<250 (continuosly check)
  movel
    relative move up

I haven't tried it but i assume it should work

zoddman

I didn't do the scripting. That's still outside my skill set at this point. However your thought about having the exit point outside of the template worked. Four "IF" statements (one for each column) and a bunch of "ORS" using the counter within the palletizer. So simple. Then I just called out a sub program after the pallet. Great! Thank you so much!!