beforeGrab:
Executed when the robot is ready for pick up at the pickup position. Typical
uses for this node is to turn on a custom gripper or stop the conveyor. Commands that move
the robot to the pick position should be inserted here when a custom path is in use.
afterGrab:
Executed when the robot has lifted up the box from the pickup position.
Commands that move the robot from the pick position to the target position should be
inserted here when a custom path is in use.
beforeRelease:
Executed when the robot is ready to drop the box on the pallet. Use this
node to turn off a custom gripper.
afterRelease:
Executed when the robot has released the box. Use this node e.g. to report
the progress to a production supervisor system. Commands that move the robot back from
the target position should be inserted here when a custom path is in use.
afterZone:
Executed after leaving a completed. Zones are mainly used with lifting columns.
onSheet:
Executed every time when a shim paper needs to be inserted. Commands that
pick the shim paper and move it to the corresponding pallet should be inserted here.
afterPallet:
Executed when the robot has finished the pallet. Use this node e.g. to turn on a
warning light, or show a popup message, so the operators can replace the pallet.
Figure 67:
Example of a custom command, before picking up a product.
Version 2.9.1
© Rocketfarm AS 2021. All rights reserved.
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