our handling system has a vacuum gripper with 2 sensors to check if the part fell accidentally from the gripper.
Currently i am checking these sensors with a monitor program.
-> Monitor Program CHECK_PART:
1: WHEN RI = Off OR RI = Off, CALL PART_LOST
-> PART_LOST Program:
Now my problem is following:
We have very thin and light products which start to shake a bit while the robot is moving through the cell.
The sensor starts to stutter a bit ON/OFF...
Is it possible to give the monitor program a condition that the RI or RI have to be off for a minimum period of time?
Or does anyone else have a better solution for this?
Is there something like a timer i can activate for example 0.3 seconds and after this period of time i can set an output?
We already tried to fix this problem by changing the sensors but it doesnt work...
I would appreciate any help.
Thanks in advance and Greetings