ROBOTIQ AX10 - Page 115

AX10 Palletizing Solution
5.5.5. Set Pallet Completed
Description
This function allows to partially fill the pallets. The palletizer will process the current box and go directly to the Add after pallet
folder. The Add between layer folder will not be executed.
Use this function inside a Grip or Release folder.
Declaration
rq_set_pallet_completed( )
Returned value
There is no return value with this function.
5.5.6. Get Pallet State
Description
This function returns the state of a pallet. It can be used anywhere in the program.
Declaration
rq_get_pallet_state(is_pallet_left)
Parameters
l
Enter True to get the state of the left pallet.
l
Enter False to get the state of the right pallet.
Returned value
This function returns an integer from 0 to 3 :
l
0 = Waiting, Idle: Solution is waiting for a new pallet or a user confirmation that the pallet is ready.
l
1 = Ready: Pallet is ready to begin the palletizing or depalletizing process.
l
2 = In progress: Palletizing/depalletizing is in progress on the pallet.
l
3 = Completed: Pallet is full (palletizing) or empty (depalletizing).