Hello,
according to the attached image: i have to palletize and depalletize at the same time these pieces that are going into a CNC.
Each emplacement has stacked seven pieces, the first one is empty at the start of the cicle, here is where the palletize action starts; pieces are fully load from the second station onwards .
I’d like to use the UR intergrated palletizing template wizard because programming with a script it will take so long time to calculate all the 33 positions.
So the application has look like that:
I take 2 pieces (double tool) from spot number 2, place them in the CNC, then i unload the machine worked ones and place them in the spot number 1 so go on. Once the first spot is full of worked pieces (7) the second one has to be empty, at this point the program has to jump by one spot ahead. At the end of the program the empty station will be the last one (33).
Is there some way to “pause” and “resume” the palletizing node in order to complete the stack of pieces in each position?
Thank you in advance 
