FOR code in KUKA

For this is better to use interrupt.You can trigger the interrupt with sensor on the gripper that detects the metal sheet.

This is pretty simple. This example assumes you have hand-taught the Pick position for the top item in the stack, in Base 1, with the Base's -Z axis pointing down. The variable rPartThickness is assumed to be set to how thick each sheet metal sheet is.

DECL _nCounter
DECL FRAME _fShift
......
FOR _nCounter = 0 TO 10000
  $BASE = BASE_DATA[1] ; make sure "above Pick" motion is not affected by FOR
  PTP XPick : {X 0,Y 0,Z 100,A 0,B 0,C 0} C_PTP ; move to approach point 100mm above highest pick
  _fShift = $NULLFRAME ; set to all 0s
  _fShift.Z = (0-_nCounter) * rPartThickness; convert counter value into a negative Z shift
  $BASE = BASE_DATA[1] : _fShift ; move the Base
  LIN XPick
  ; activate gripper here
  $BASE = BASE_DATA[1] ; reset Base to original value
   LIN XPick : {X 0,Y 0,Z 100,A 0,B 0,C 0} C_PTP ; move to depart point 100mm above highest pick
   ; Move to dropoff position, drop sheet, etc
ENDFOR

However, a FOR loop may not be a good way to do this -- everything has to be inside the loop, including your moves over to the Dropoff area. A better way would be to use a counter variable, and increase it by 1 every time you pick a sheet. Then your Pick routine and Drop routine (and other routines, like Move Home, Move To Maintenance, etc) can be separated.

Quote from mhanbildiren

**İ know the long way is typing 1.000.000 lime codes but what is shortcut?

shortcut to typing 1000000 lines of code is reading 300 page manual

if you are sure of product thickness and tight tolerances, you may compute pick point as you go - one per pick... or calculate all of them before you start.

but while this can work, it is very inflexible without feedback.

for calculation look up geometric operator or palletizer code samples

for feedback, lookup up search with interrupt (RESUME command)

Oh...this is too much products and difference. I used to work in a project that's up to 10 unstable roofs with one gripper.at first,I've tried to use forloop with num=num -1 .but it was a changed num..it was damn to teach operator to change the num.sol used interrupt.trigger with part sensor.but it didn't work well as l imagine .you know it can't run farst oR it will occur bad collision...so l set the OV =5%...maybe you could ref my bad exp

You can put one laser sensor on the gripper that detects the part at a distance and use interrupt to reduce the speed for the last 100mm maybe.