seek and palletizing

mfadrigalan

hi all,
need help on programming the robot using force as seek sensor to find the top most tray and when the top most tray found  it will start pelletizing from there.so i can put different number of tray everytime.
i found the program below online but i dont know how to start the pallet from there.

BeforeStart
    Movej
        Start
Robot Program
    Wait: 0.01
      MoveL
            Seek_w_force
             If force()<50
                   Stop_force_seek
             return_5mm

thanks.
mart

Etienne_Samson

@mfadrigalan I think what you need to do is have your pallet wizard reference starting point saved in a variable and then do a pose_add to start your pallet with the offset you found out with the seek. Your new pallet would start with a pose that is your initial pose + the offset.

I would start with finding the difference in height (Z) when you find something with the seek. Use the get_actual_tcp_pose() function and do a difference between this and your reference frame to know the Z difference. You will look at the current pose digit [2] to get the Z, [0] is X and [1] is Y.

Then you could start your pallet with the new height. Use the pose_add() function, you would just add the Z from your variable to get your new pose.

mfadrigalan

@Etienne_Samson thanks for your response.
One more question. how can i save my starting point as a variable in pallet wizard?i don't see any options.

matthewd92

You would probably need to create a point feature and then use that point in the pallet wizard. You access those by going to the installation tab and then about halfway down is the features list. Remember to check the box for the point is variable. That will allow you to adjust it.