This article aims to show the method to perform soft interlayers requiring custom moves. This methods add benefits to the end user : -flexibility to reprogram -visible in the user interface when starting a program.
Here conditions required to be able to program :
1/ Create the " box interlayer" using multipick
2/ Replace the automatic gripper model by a smaller model
Those steps are detailed further if needed.
Program concept :
The concept is to ignore :
- The box called "interlayer" to not perform the standard trajectory
- Perform your required custom moves to put the interlayer on the pallet
- Out of the node pass to the next box to continue palletizing
boxtype is a variable string initialize in the before start ( it require to be able to use this outside of the palletizing node
Detailled step 1 and 2 :
1/ Create the " box interlayer" using multipick
2/ - Replace the automatic gripper model by smaller model
