hi
2 questions.
first I am working with a R1000iA/100F with R30iA controller, i am using a vacuum gripper to grip many different sized and shaped parts, so how do I setup the payload schedule? i see there are 10 payload schedules, but i have closer to 100 parts, can i do something like whenever i "release vacuum" set payload 1 (empty 0 KG), and then whenever i "Grip vacuum" set payload 2 (which would be a register), and then each seperate program sets that register for it'sspecific part weight.
second question, same model robot, i would like to pick up blank flat parts stacked on a pallet, sometimes these blank flat sheets stick together and the robot picks up 2 sheets with vacuum gripper, is there an option like maybe payload check to see if the payload is twice as high as normal, so it knows if it holding just 1 or if a second part is stuck on there?
thanks