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mfadrigalan
Posts: 3 Apprentice
seek and palletizing |
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Answered | |
/ Most recent by matthewd92
in Programming
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3 comments |

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
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
Tagged:
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.
esamson[email protected]
One more question. how can i save my starting point as a variable in pallet wizard?i don't see any options.