We are working on a project where we pick plastic sheets from a pallet and place them into a molding machine. The EoAT has 12 vacuum cups with a vacuum sensor monitoring them. We want to go to a defined point above the stack, move down slowly until the vacuum switch comes on and we know we found our first sheet and then save that point. After finding the first sheet, I don't know an easy way of going back to the saved point and then moving down while monitoring the vacuum sensor, and for the first sheet too. Is there a way to monitor IO while moving? Any help is appreciated! Thanks
Need help writing a program for picking a stack of sheets.
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naduley -
January 2, 2015 at 3:33 PM -
Thread is marked as Resolved.
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Use SearchL. I've included the link below. We typically use an ultrasonic prox switch for a slow down and a second prox(depending on how you're doing it) for stop. I don't think I would use the vacuum as a stop becuase if you had a cracked cup or something, it might overdrive the search and crash your gripper. You could use the vacuum on/off as a part present check instead. I've also copied a sample we use for slow down and stop searches.
SearchL\SStop, DI_SrchSensor_2A_G1, pSrchPos, pSrchEndPH1Lwr, v100, tGrip1\WObj:=wobj_PH1_Lwr;
SearchL\SStop,DI_SrchSensor_1B_G1,pSrchPos,pSrchEndPH1Lwr,v50,tGrip1\WObj:=wobj_PH1_Lwr;http://developercenter.robotstudio.com/BlobProxy/manu…ual/doc151.html