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force detected parts using pallet or destacking
/ Most recent by David_Gouffe
tom24 Posts: 53 Apprentice
Please ask your questions if something is not clear for you.
I hope it helps.
In the link I previously shared with you there was a camera but it was not used for this program. The stack high was detected using the force sensing capability of the robot.
You also have to possibility to find the high of a part using the vacuum detection of ePick or airPick.
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
Best trick to find a part or a surface using the force is "Force Copilot" with the "Find Surface" function.
Inside the Pallet tool, just after the point of single part approach:
-add a "Find Surface"
-select the axis to search into (Default is Z axis of the tooling)
It will search up to force detection is reached.
Of course, you need the Force Copilot dongle.
The other way is to use Robotiq AirPick or EPick Vacuums (this last only if material is nonporous). In this other way you use the part detection signal as the trigger of a part detected.
With Force Copilot, you save on programming time and give touch sense to the robot. It is an easy, quick, efficient and reliable solution to "Start Production Faster".
Let me know once you gave it a try.
I guess you would have to use the UR build in commands inside the pallet structure, about the same place as the Robotiq "Find surface" into your program.
You might need to find the UR Command, not in basic, but in Advance or Template inside structure. And figure out how to use it.
As it is so easy to use Force Copilot and it saves so much time, we do not use the UR one.
I will let you seek for this. If it is not working, you can still go for the Force Copilot.