Specific index through pallet routine

NathanR

I am dropping items into a tray and want to do this in a specific sequence. How would I include this in my program. Here is my current program. I am also having issues where my action, approach, and exit are still showing yellow as if they are undefined 

 Program

   Init Variables

   BeforeStart

     Gripper Activate

     Gripper Move60% (1&2)

     MoveJ

       Start_point

       Pallet 1 Calculations

         Pallet1_Count≔20

         Pallet1_Rows≔4

         Pallet1_Cols≔5

         Pallet1_XLength≔195.58/1000

         Pallet1_YLength≔244.475/1000

         Pallet1_XDelta≔Pallet1_XLength/(Pallet1_Rows)

         Pallet1_YDelta≔Pallet1_YLength/(Pallet1_Cols)

         Pallet1_ZApp≔20/1000

         Pallet1_ZExit≔20/1000

   Robot Program

     Calculations

       Pallet1_Index≔Pallet1_Count

       Pallet1_XIndex≔floor(Pallet1_Index/4)

       Pallet1_YIndex≔Pallet1_Index-(Pallet1_XIndex*5)

       Pallet1_XOffset≔Pallet1_XDelta

       Pallet1_YOffset≔Pallet1_YDelta

       Pallet1_Action≔pose_trans(Pallet1, p[Pallet1_XOffset,Pallet1_YOffset,0,0,0,0])

       Pallet1_Appr≔pose_trans(Pallet1, p[Pallet1_XOffset,Pallet1_YOffset,Pallet1_ZApp,0,0,0])

       Pallet1_Exit≔pose_trans(Pallet1, p[Pallet1_XOffset,Pallet1_YOffset,Pallet1_ZExit,0,0,0])

       Motion

         MoveJ

           Pallet1_Appr

           Pallet1_Action

           Pallet1_Exit

Pallet1 is a predefined plane

bcastets

The program locks ok.

Maybe you could remove the yellow color by initialling those positions in the before start ?

Why don t you use the UR pallet node ? That would ease the programming.

NathanR

Figured it out. The Palletizing program keeps running to points that are not the ones being called and has several bugs