ROBOTIQ PALLETIZING SOLUTION AX Series Instruction Manual page 81

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0 = Waiting, Idle : Solution is waiting for a new pallet or a user confirmation that the pallet is ready.
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1 = Ready : Pallet is ready to begin the palletizing or depalletizing process.
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2 = In progress : Palletizing/depalletizing is in progress on the pallet.
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3 = Completed : Pallet is full (palletizing) or empty (depalletizing).
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5.2.7. Set Palletizer State
Description
This function must be used outside the palletizer node in order to work properly. It configures the state of a Palletizer node.
Declaration
rq_set_palletizer_state(palletizer_index, processed_boxes, next_step, other_pallet_state=INACTIVE, current_pallet=CURRENT)
Parameters
palletizer_index : Palletizer nodes for which the state will be numerically ordered, beginning from 0 (the first node number will be
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0, the second node number will be 1 and so on).
processed_boxes : Number of boxes palletized or depalletized on the current pallet.
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next_step : Next step on the current pallet.
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BOX : The robot will place a box on next step.
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BEFORE_PALLET : The robot will execute the Add before pallet on next step.
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BETWEEN_LAYERS : The robot will execute the Add between layer on next step.
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AFTER_PALLET : The robot will execute the Add after pallet on next step.
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NEXT_PALLET : On next step, the robot will start processing the other pallet.
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other_pallet_state : State of the other pallet (not currently processed).
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EMPTY : There is no box on the pallet.
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FULL : The pallet is full of boxes.
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ABSENT : The pallet is not in place.
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INACTIVE : When the Palletizer node does not use the other pallet.
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current pallet : The pallet on which the robot is currently working on.
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LEFT : The current pallet is the left one.
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RIGHT : The current pallet is the right one.
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CURRENT : The current pallet is the same as before calling this function.
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Return value
There is no return value with this function.