matthewd92
We have an RG2 on an application and we are using measured_width post pick to determine if we are holding the correct part, also using it to detect if we may have picked 2 parts. This is on a vision picking system where we are picking off of a vibratory feeder. Works pretty well in our application using this method. We just give a range of acceptable width for each of the parts that the robot can pick.
Kevin
RasmusL
In the OnRobot RG2 user manual you can find what variables you can use for the grippers in script code (Plus lots more):
| Feedback | Variable | Description |
|---|---|---|
| grip_detected | True/False | True if Gripper has detected a work piece |
| lost_grip | True/False | True if Gripper has dropped a work piece |
| measure_width | [mm] | Width between the fingers of the Gripper |
But yes, you have to add them as script code, as the variables will not be loaded until you run it.
So an example where the RG(0) loads the variables and you can then use it in the If:
- Robot Program
- MoveJ
- Waypoint_Safe
- Waypoint_Enter_Pick
- RG2(0)
- If grip_detected == True
- MoveJ
- Waypoint_Exit_Pick
- Else
- RG2(85)
- MoveJ
- Waypoint_Safe
Good evening. I have a UR 10 with the RG2 gripper. I'm wanting to incorporate part confirmation into my program, and not sure the best way to do this? Could you send me your ideas. Thanks