Rally URCap, Руководство пользователя

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Figure 15 : using zones to avoid collision by changing the palletizing order.
Zones require a special configuration file. This file will describe the conditions for splitting the
pallet into smaller regions. Creating the configuration file is easy and can be done in most
cases by copying the example files provided.
See the definition of
Zones for more details.
The zone configurations are transferred to the robot along with the regular pallet patterns,
see
Uploading new patterns .
4.9 - User extensions - Callbacks
It is possible to extend the functionality with user-defined commands, which are
automatically executed when specific events occur.
Currently the following events are available:
● The initial MoveJ node: Executed once on startup, after all configuration variables
have been initialized. This allows runtime configuration changes and special tuning.
● beforePallet : Before starting a new empty pallet.
● beforeZone : Before entering a new zone.
● onNextTask : Before starting all calculations for the next box(es)
● beforeGrab : Before lifting up a box from the pickup position.
● afterGrab : After lifting up a box from the pickup position.
● beforeRelease : Before releasing a box on the target position.
● afterRelease : After releasing a box on the target position.
● afterZone : After leaving a completed zone.
● onSheet : When a shim paper needs to be inserted.
● afterPallet : After the pallet is complete.
The user-defined commands can utilize the values of the following global variables:
● ProductCount : the number of boxes palletized on the pallet so far. The value is
incremented between the beforeRelease and afterRelease callbacks if
TaskCompleted is True (see below)
● ProductName : name of the product that is being palletized
● PalletNr : 1=right pallet, 2=left pallet
● PalletCenter : a pose that defines the position and orientation of the pallet top center
● ZoneNr : indicates which part of the pallet is being palletized (for lifting columns),
0-based
● LayerNr : indicates which layer is being palletized, 0-based
● ProductHeight : height of the box that is being palletized (in meters)
● LayerHeight : height of the current layer (in meters) - equivalent to ProductHeight in
callbacks beforeGrab, afterGrab, beforeRelease, afterRelease. Contains the height
of the current shim paper in the callback onSheet. Otherwise zero.
● LayerAlt : the altitude, measured from the top of the empty pallet (for shim papers)
Version 2.9.1 © Rocketfarm AS 2021. All rights reserved. 24