I have been given the task of programming a R-2000 iA 165WE with the R-j3iB controller. The task in hand is to lift a flat copper disk aprox 0.9mm thick. These come in varying stacks and some types are slightly thinner and some slightly thicker. I was thinking of positioning the robot above the stack and sending it down slowly and using a sensor to detect the disk and once the robot reads the DI the robot stops and turns on the suction cups and continues with the rest of the program and them repeating the whole process again with the sensor turning on lower and lower each time.
I dont know how to go about doing this or if its even possible. Can any one help ??