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zoddmanzoddman Posts: 9 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.

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  • zoddmanzoddman Posts: 9 Apprentice
    That makes for a lot of "If" conditions for a 4 X 9 stack, but that could work. I'll try. Thanks.
  • David_GariepyDavid_Gariepy Posts: 175Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    edited May 16
    @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
    David Gariépy
    Integration Coach
  • zoddmanzoddman Posts: 9 Apprentice
    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!!
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