Dear Members,
I am confronted with a complex customer requirement that appears unfeasible: retrieving glasses from a stack of 100, angled at 60 degrees relative to the horizontal axis, with a tolerance of +/- 15 degrees. I employ a vacuum gripper for the glasses. The start and end points of the pallet are programmed with a glass presence sensor. Two sensors are positioned at both ends, connected in series to the PLC, sending a single signal to the robot.
If the angle exceeds the limits and one sensor fails to activate, the robot continues its movement, leading to an overload on the glasses. The customer wishes to disregard the variation in the glass angle and requires the robot to tilt the gripper to activate both sensors.
How can I use the robot's 'until' function to tilt the robot at an angle when it stops midway through the stack to align the gripper with glass?
