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It is clear you have a script program to detect on the part, I agree with you. But, the tool I have on the e-series is our design so I have section cups to grip parts and connect with vacuum generator. There is only a force on the tool (no torque). If I have only force how I can program with the pallet because I tested many times but it is not work with my pallet. Can you give me some suggestion or sample on how it works with the pallet?

    Approach_1                                                                                                                                 pallet point-1
     Force =5                                                                                                                                     picked  part                                                                                                                                 Vacuum on                                                                                     Wait:.01                                                                                                                               Exit_1