Hello to everyone!
The system:
We are using two delta robots M3-6iaS with the IrPickTool package. The system works with two conveyor: one to passing the product under the camera and another to bring the boxes to put products inside. The robot pick the products according the camera's position and assembly the tray. Both robots works complementary, that means which if the first robot drops in the box (or tray, wherever) a quantity of products but the box is not full yet, another robot must to complete that box. We have a option for to use a load balance, setting the same quantity of products in each box. Unfortunately, for our lay-out, this not works good.
The issues:
We need to warranty if the pockets are picked and placed correctly, we tried to use a vacuum sensor, but this is only in the pick, and I need to know if the robot lost a product in the travel from pick to place.
Thanks.