I am trying to make a small program where a UR5 grabs parts at the end of a conveyor belt. It uses seek with a sensor on my gripper to find parts, that are placed in lines.
I can select between seek with stacking and destacking mode. There is only 1 part to grab, and when that part is collected and delivered elsewhere, the robot shall look another place for a new part.
The problem is that the robot always returns to the "line of searching" where it just collected a part. I need to break out of that routine and make it go look elsewhere.
I have tried to set a boolean value when i collect the part, that should end the destack mode, but apparently the bool is not being checked before the robot is placed at the same search line.
I hope someone can help