Hi DoF community,

In this post, I am looking to show you how to sort parts using the Robotiq Wrist Camera. The idea here is to use a single Snapshot position (one single calibration) to teach 3 different parts to the vision system. Here are the three parts of the 2F85 gripper assembly that I used for this demonstration:

In this program, I am using 3 variables to control the place positions for each of the 3 parts. The variable associated with the first part on the left is Flange, the variable associated with the part in the middle is Phalanx and the variable associated with the part on the right is Finger. These variables are incremented every time the camera locate node for that given part is executed. This incrementation allows me to tell the robot to place the part in a certain position using IF statements. Since I am using 3 different Camera Locate nodes (1 for each part), the searching phase of the program can be a little long. For this reason, I am using an IF statement to ignore a Camera Locate node if the number of parts in the workspace has already been sorted. In this demonstration, I am using two examples of each part so I know that there are only two parts corresponding to each Camera Locate node. For example : IF Finger <=2 then go through the Camera Locate node. 
Here is the video of the demonstration :
https://youtu.be/9aJBRiyzgLs

Here is the program used for this demonstration:
 Program
   BeforeStart
     flange≔0
     phalanx≔0
     finger≔0
   Robot Program
     MoveJ
       Snapshot_Position
       Gripper Open
     If flange≤2
       Camera Locate
         MoveL
           Flange_Approach
           Flange_Pick
           Gripper Close
           Flange_Exit
           Set flange=flange+1
           If flange≟1
             MoveJ
               Flange_Place_Approach_1
               Flange_Place_1
               Gripper Open
               Flange_Place_Exit_1
           ElseIf flange≟2
             MoveJ
               Flange_Place_Approach_2
               Flange_Place_2
               Gripper Open
               Flange_Place_Exit_2
     MoveJ
       Snapshot_Position
     If phalanx≤2
       Camera Locate
         MoveL
           Phalanx_Approach
           Phalanx_Pick
           Gripper Close
           Phalanx_Exit
           Set phalanx=phalanx+1
           If phalanx≟1
             MoveJ
               Phalanx_Place_Approach_1
               Phalanx_Place_1
               Gripper Open
               Phalanx_Place_Exit_1
           ElseIf phalanx≟2
             MoveJ
               Phalanx_Place_Approach_2
               Phalanx_Place_2
               Gripper Open
               Phalanx_Place_Exit_2
     MoveJ
       Snapshot_Position
     If finger≤2
       Camera Locate
         MoveL
           Finger_Approach
           Finger_Pick
           Gripper Close
           Finger_Exit
           Set finger=finger+1
           If finger≟1
             MoveJ
               Finger_Place_Approach_1
               Finger_Place_1
               Gripper Open
               Finger_Place_Exit_1
           ElseIf finger≟2
             MoveJ
               Finger_Place_Approach_2
               Finger_Place_2
               Gripper Open
               Finger_Place_Exit_2
     ElseIf finger≟2  and  phalanx≟2  and  flange≟2
       Halt

@Tyler_Berryman nice cable management!  ;)

I am trying to sort M10, M8 & M6 screws respectively. When they are in even number (i.e. 2-M10 , 2-M8, 2-M6) process smooth. While there is uneven number of screws ( 2-M10,  3-M8, 3-M6) process stops until it finds next M10 screw and doesn't proceed further to find M8 and M6. Can give an idea how to approach to detect object and proceed further if camlocate command doesn't detect an object.

Thanking you in advance.

Warm Regards,
Lakshmi Prasanna.

@lakshmip001 Could you post a text version of your program so I can understand the logic of your program? If you do not want to post your program you can send it to me by private message and I will be happy to help you with your program!

@Tyler_Berryman Hi , may i know how did you configure the set function ? I tried to use URscript and it says my set is not defined. 

@alanjones,

You can use the "Increment Installation variable by one" option that is shown in the second image that you included. Be certain to use an installation variable!

@Tyler_Berryman Thanks !
Is it possible to use while or for loop for your program to run continuous instead of using if statement ? 
Do you have any tips or examples of a loop program for this program that you've created ?