::heading=Context
This article describes the functionality of the rq_has_box variable.
::heading=Knowledge
::info=The default value of rq_has_box is True.
The variable tells the PAL if it has placed a box at the current location. If it value is True, the PAL increments the box count and moves to the next box location.
At the beginning of the Release section of the Palletizer node, you can set the value of rq_has_box to the value of rq_is_vacuum_obj_detected (gripper_socket). If this value is False, it won't increment the box count and the PAL will try to place the next box at the same spot.
::info=If this check is made, some logic should be added in the Release section to take this into account. For instance, if the robot doesn't bring a box, there is no need to actually release it. If the robot cannot pick up the box from the conveyor, the program could be halted to allow an operator to remove the faulty box.
0 Comments