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Home > Programming > How to stop this looping error?
Tayo

Hello DoF,

The program in the picture worked perfectly fine for me up til last week. I did not change anything but suddenly it keeps looping the MoveL inside the Camera Locate. Instead of just exiting the MoveL and bringing the object to the next waypoint inside the MoveJ.


How could I solve this problem?

Best regards,

Tayo

zoom
RamonSanchez

Goedemorgen @Tayo
While I am not using a camera, and I don't know specifically how it works, this is more or less the pseudocode I have used for breaking a loop of object detection with a 3-finger Robotiq gripper (I hope I am remembering it well).

BeforeStart
geen_product = 0

RobotProgram
...
If (checked continuously):
   if object is not located:
      open gripper
      back to original position
      geen_product = geen_product +1
      if geen_product >= 5
         pop-up
         geen_product = 0
   elseif object is located:
      break

Movej...

Veel succes,
Ramón
 
RamonSanchez

Here you are the exact piece of code:   

 $ 17 "Loop"
    while (True):
      # begin: URCap Program Node
      #   Source: Robotiq_3-Finger_Adaptive_Gripper, 1.0.0, Robotiq inc.
      #   Type: 3F Object Detected
      $ 18 "If not 3F object detected"
      if not rq_is_object_detected():
      # begin: URCap Program Node
      #   Source: Robotiq_3-Finger_Adaptive_Gripper, 1.0.0, Robotiq inc.
      #   Type: 3F Gripper Move
      $ 19 "3F Basic Open"
      rq_set_basic()
      rq_set_force(255)
      rq_set_speed(255)
      rq_move(0)
      # end: URCap Program Node
      $ 20 "MoveL"
      $ 21 "point_1"
      movel([5.167157579968164, -0.8497353437387618, -2.200649891660926, -3.2382118260714328, -1.150528929266594, 0.7900703416475932], a=1.2, v=0.25)
      $ 22 "Popup"
      popup("Tube Absent", "Message", False, False, blocking=True)
      $ 23 "MoveL"
      $ 24 "point_2"
      movel([4.9549133369150296, -1.4438429129746275, -2.416710265018896, -2.4280072451804626, -1.367181157161772, 0.786604714658365], a=1.2, v=0.25)
      # begin: URCap Program Node
      #   Source: Robotiq_3-Finger_Adaptive_Gripper, 1.0.0, Robotiq inc.
      #   Type: 3F Gripper Move
      $ 25 "3F Basic Close"
      rq_set_basic()
      rq_set_force(255)
      rq_set_speed(255)
      rq_move_wait(255)
      # end: URCap Program Node
      end
      # end: URCap Program Node
      # begin: URCap Program Node
      #   Source: Robotiq_3-Finger_Adaptive_Gripper, 1.0.0, Robotiq inc.
      #   Type: 3F Object Detected
      $ 26 "If 3F object detected"
      if rq_is_object_detected():
      $ 27 "break"
      break
      end
      # end: URCap Program Node
    end
    $ 28 "MoveL"
Tayo

Thank you (dankjewel) Ramón!