5.5.4.Set PalletizerState
Description
This function configures the state of a Palletizer node. It must be used outside the palletizer node in order to work properly.
Declaration
rq_set_palletizer_state(palletizer_index, processed_boxes, next_step, other_pallet_state=''ABSENT'', current_
pallet=''CURRENT'', left_recipe=" " , right_recipe="" )
Parameters
l
palletizer_index: Palletizer nodes for which the state will be numerically ordered, beginning from 0 (the first node number will be
0, the second node number will be 1 and so on).
l
processed_boxes: Number of boxes palletized or depalletized on the current pallet.
l
next_step: Next step on the current pallet.
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''BOX'': The robot will place a box on next step.
l
''BEFORE_PALLET'': The robot will execute the Add before pallet on next step.
l
''BETWEEN_LAYERS'': The robot will execute the Add between layer on next step.
l
''AFTER_PALLET'': The robot will execute the Add afterpallet on next step.
l
''NEXT_PALLET'': On next step, the robot will start processing the other pallet.
l
other_pallet_state: State of the other pallet (not currently processed).
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''EMPTY'': There is no box on the pallet.
l
''FULL'': The pallet is full of boxes.
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''ABSENT'': The pallet is not in place.
l
''IGNORED'': The Palletizer node will disregard the other pallet, even if it is detected.
l
current pallet: The pallet on which the robot is currently working on.
l
''LEFT'': The current pallet isthe left one.
l
''RIGHT'': The current pallet is the right one.
l
''CURRENT'': The current pallet is the same asbefore calling thisfunction.
l
left_recipe: Corresponds to the recipe to process on the left side of the Palletizer. The user can leave this argument blank to
continue processing the left pallet with the same recipe. The user can also enter the exact name of a specific recipe to replace
the current recipe.
l
right_recipe: Corresponds to the recipe to process on the right side of the Palletizer. The user can leave this argument blank to
continue processing the right pallet with the same recipe. The user can also enter the exact name of a specific recipe to replace
the current recipe.
Returned value
There isno return value with this function.
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