Figure 79
: Path planning with fixed
smart exit
position, to avoid collision with the wall.
7 - Using the palletizer program
This chapter will give an introduction on how to use the program. It will describe how to
create the main program, how to start the program, how to use the program in different
modes, error recovery and shutdown of the robot.
7.1 - Creating the main program
Create the palletizer main program as described in
The palletizer program should be saved on the disk as a normal UR program.
Note that there should only be
one
Pally-node in the Robot Program.
7.2 - Starting the program
Start the robot. Click the play button in Polyscope and then select "Run program". A window
from Pally will appear, as described in the next section.
Version 2.9.1
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