We are using a UR10 robot to stack sheet metal parts.  If the program gets interupted is it possible to set the number of parts already in the stack so the end effector does not create a collision?

Rick

Hello @rpeters

I am sure this is possible. One way to do it is to create a counter. (Assign a variable as the counter to 0. Then add plus 1 each time a part is stacked. You will then be able to monitor the number of parts stacked.

Are you using standard waypoint to stack?
One easy way to do it and avoid collision is to use the Force Copilot software from Robotiq. We have a built in node called "Find Surface" that is designed for application like yours. The robot goes in one direction until you feel a force (Feel the stack) then it will jump to the next node in line. (most of the time the opening of the gripper).

Hope this helps.

Regards.