Hello,
I`m a new user of this forum and also started working with a legacy RJ-3 controller.
At first, I made the new patterns by using PalltTool PC and I found many bugs in it, but eventually, I could test new patterns successfully.
Now, we have a problem with one of the box shapes since the gripper cannot hold 3 boxes and the boxes drop off before the gripper reaches the pallet. I`m using a triple gripper and the orientation of the sucker cups is the same as the length of the boxes, and because of the gap between the series of sucker cups and also the loose grab of plastic tape on the box, many boxes drop during handling and we tried many things like increasing the air pressure adding more cups,..
Since this robot service two infeed positions and two pallet stations and it works perfectly with other boxes, we decided to keep the gripper but just rotate it 90 degrees at the infeed position to have a better gripper, however, we know that we don`t have the option of dropping a box at the time since the sucker cups are not aligned with the box orientation.
So the best solution that came to our mind ( after testing Infeed-Unit Orientation change on PalletTool PC\Optimal path\Box Info, which didn`t work), decided to define a new infeed position just by keeping the same infeed position and just rotating the gripper 90 deg and sending a request to robot whenever we have this specific pattern to go to new infeed position.
I`m wondering if this is the best solution and also do we need to consider the safety issue since I don't know how to see or check the safety zone to prevent any crushes.
Any help would be highly appreciated.