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mjwelch
Partner Posts: 5 Apprentice
Empty versus Full Container |
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I am setting up a proof of concept for a customer where I am picking up 6 containers each full weighing 340g each using a vacuum gripper. I would like to be able to sense if one of the lids pops off thus leaving the full container behind using a force torques sensor. I have tried using get_sensor_fz() to store the weight then comparing it to what I have proven a full load would be. This seems a bit unreliable. Does anyone have a better recommendation for this process?
Co-Founder | Vanguard Robotics
e: [email protected]
w: vanguard-robotics.com
Co-Founder | Vanguard Robotics
e: [email protected]
w: vanguard-robotics.com
5 full - 20.209324
4 full - 20.389290
3 full - 20.956726
2 full - 21.423036
1 full - 20.566676
These results are from consecutive cycles, removing a package after each. I am not sure that I understand the unit of measure when using get_sensor_fz()
The cycle is very simple, move above, wait 0.5 seconds, zero, pick 3 containers, move down the conveyor, pick 3 more containers, wait 0.5 seconds, Weight:=get_sensor_fz(), popup Weight.
Co-Founder | Vanguard Robotics
e: [email protected]
w: vanguard-robotics.com