Hi I'm fairly new to PalletPro. We have our program running and palletizing 8 different unit loads. It's picking and placing fairly well. I have the inputs for product present mapped to DI71 and DI72. Currently, the robot continues to running whether there is a box present or not. I need it to stop if a box is dropped. Is there logic for this already in place in PalletPro or is this something I need to add? Any help is greatly appreciated. The robot is reading the inputs through ethernet/ip from the end effector directly.
Product Present Sensors and error recovery
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Kuckphoto -
October 30, 2018 at 2:17 PM -
Thread is marked as Resolved.
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Hello,
One option would be to write a KAREL program with condition handlers and use PAUSE_TASK, RUN_TASK, ABORT_TASK, CONT_TASK and start the program with RUN to run continuously. -
I'm having a similar issue at the moment.
How many infeeds do you have? If you just have one infeed you could write a program telling the robot to go to the infeed's perch position and wait there for the inputs saying the box exists; which works well unless you have multiple infeeds with irregular production rates (where I'm at). -
Yeah there's only 1 infeed and 1 pallet position. Looking through the programs there is a program PLCPDREC.tp in PalletPro that checks for inputs from the PLC for box present sensors. I'm just not sure what value to send to the GI[1] to tell it when there's a dropped box or which zone has dropped a box.
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I may be completly wrong, but isnt there an option to turn on part drop in the set-up -> pallet system screen? then I believe that's all done by the robot if one of the EOAT's sensors isnt made but should be.
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OK I wasn't sure if the robot controlled that or it waited for data from the PLC. It was disabled in the robot so I'll try that and hopefully the robot will control it's dropped boxes. Thanks!
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You're welcome! hope that works out for you!