Shift the location of a pallet to fallow a conveyor

Technical Questions URScript
2

Absolutely. Teach your pallet to a feature, and then just reassign that feature using the offset passed from your PLC. A feature is just like any other Pose in Polyscope. I would make this a simple script function if it were me.

I don’t know how your PLC is formatting its offset, but lets pretend it’s just some number in the X direction.

Script code:

def shiftPalletFromPLC(plane_to_shift, PLC_offset):
  return pose_add(plane_to_shift, p[PLC_offset * SOME_CONVERSION_TO_METERS,0,0,0,0,0])
end

Polyscope:
image

Just be sure to pass the “const” version of the feature into your function (the one accessible through the POSE dropdown, not the variable dropdown) and assign it to the same feature selected from the Variable dropdown, NOT the Pose dropdown.

Now anything you have programmed to that feature has just been shifted in the X direction by whatever your PLC is sending.

Note this is shifting purely in the Base frame. If you need this to shift PLC_OFFSET amount in the X direction of the FEATURE, there’s quite a bit more script involved.

POTENTIAL DOWNSIDE:
Unfortunately it sounds like you’ve already programmed your whole pallet. If this was done to Base, you’ll have to reteach them all to a Feature. If you already taught it to a feature, great! You’re good to go!

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