Hello,
I have an application where I am unloading parts out of a die cast machine, I have a 6600 robot with a S4C+ controller. There is a "hockey puck" shaped chunk of aluminum on the casting that the robot grabs onto. The problem is that this hockey puck is always in the same location, but the thickness varies from 2 to 8 CM in thickness. Is there a way to program the robot to do a MoveL command onto the hockey puck, then once the gripper touched the hockey puck (and the torque in axis 1 rose) the MoveL command could be interrupted and stopped? Because of the temperature of the casting (350-400 deg C) it would be difficult to put a proximity switch in the gripper, I would prefer to use axis 1 torque to stop the robot.
Thanks