Method to detect empty end-effector?

    Dear FANUC experts,

    For picking part application, I am wondering if there is any standard/popular method to know if the end-effector has successfully picked up a part.

    The reason I am asking is, sometimes our magnetic cup picks up nothing, but it doesn't know, so it still goes through the entire rest of the process as if it was holding the part. I guess we can add force sensor to detect how much weight the end-effector carrying is? or use another camera to see if there is a part below the cup? Just wondering if there is any other quick way people are familiar with, or any suggestion.

    Thanks,

    Regards,
    Tianxiang

    We use lasers that shoot a beam that is aimed so that it is purposefully broken by a successfully picked up part. I pick the part and move to the beam and pause. If the beam is broken the robot moves on, if it is not it returns home and issues an alarm via the plc.
    There are checks in place to verify that the beam is not broken when it shouldn't be to watch for misalignment of the laser.
    I also site the part that is to be picked to make sure we are not starting a dry cycle because of no part in the pick up position.

    Edited once, last by mortoch (November 14, 2017 at 3:22 AM).

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