RG2 gripper detected during palletizing

tom24

How the RG2 gripper detected a part during palletizing. For instance, if I have 12 part in a pallet and then I need to pick the first part but if there is no part in the first point how it moves to the next point to pick the part and exit instead of moving to the next waypoint? I highly appreciated for the help.

Nicholas_Francoeur

@tom24, I'm not exactly sure what is available with the RG2 gripper, but the Robotiq gripper as an object detected function that can be used in such case. If your gripper has the same kind of functionality you can use the same logic. I'm using a loop in which my pallet wizard is located, looping until I have a part that is detected by my gripper. If not, I'm moving to the next position. Find program attached.

 Program

   BeforeStart

     picked≔ False 

     Gripper Open (1)

   Robot Program

     MoveJ

       home

     picked≔ False 

     Call pallet_sub

   pallet_sub

     Loop picked≟ False 

       Gripper Open (1)

       Pallet

         Pattern: Square

           Corner1_1

           Corner2_1

           Corner3_1

           Corner4_1

         PalletSequence

           Approach_1

           PatternPoint_1

           Gripper Close (1)

           Grip Check

             If object detected          

               picked≔ True 

           Wait: 1.0

           Exit_1

tom24

It works but I added else if grip-detected=false  and then Gripper Open (1)

Thank you so much