Reading values From A Position

    Hello Guys!

    I am doing a part stacking application. It is just a small portion of my machine. We are stacking floppy plastic parts and there are 6 part styles and 4 different stacking positions that are all uniquie. Each part and stack requires its only stacking offsets. Meaning from the first part to the last part (20). I am using my PLC to keep track of the counts.

    What I would like to do is create a dummy program and teach the first part position and the 20th part. Then I could do a calculation to figure out how much the change is in X,Y,Z. Then using that and the part count I can figure out how much to offset each part.

    I have two questions.

    1. How do I read the x/y/z position from a taught position?

    2. Is this the best approach? Do you have any other suggestions?

    This is the type of machine that part styles will slowly be rolled out so it will be nice to just jog the robot over and teach start and end of the stack and the math is handled in the background. Currently I am sending offset values from the PLC and it works, but it spretty cumbersome.

    Just fyi the parts are rounded and dont nest perfectly together so we are mostly dropping parts into a stack. So there is will be offsets in x, y and z.


    Thanks,

    Kevin

    See here:

    Blog Article

    Picking part 2, from a tray of parts.

    Here is the next article on picking parts with robtarget arrays, taught by one position then calculating the rest of the array. In this one, since it is a flat tray, I had to set the "Z" value the same. The improved part is writing the orient and axis configuration also. I hope you find it informative and useful. I think I got the code formatted better this time. I will have to revisit the first article to see if I can fix it.

    (Code, 417 lines)

    Lemster68
    November 4, 2019 at 3:41 PM

    And my previous blog.

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