Incrementing pallet position with seek function.

AZalmanov

In my application we have a UR5 along with Robotiq 2-finger 85 gripper. In my application a stack of 5 trays are fed to the robot. I would like for the robot to take one tray from the stack perform a pre existing palletizing sequence then when the tray is full get a new tray from the stack and place it on top of the completed tray. I am using stack and de-stack from the seek wizard. What I am having trouble with is orienting the pallet program to the position of the new tray. I assume interpolation will need to be done to achieve this. Any input would be appreciated.

David_Gariepy

@AZalmanov

I just did a test here and i think this is doing what you need. 
Use the Box pattern and teach the first for corner on the first tray, then remove the four other tray and teach the last four corner.
In the palletSequence, you can track the number of part place with a variable and using an if statement to define a sequence to pick and place the tray. 

Let say you need to place 25 part in each tray.
At the beginning of the pallet sequence, you could have an if statement that say if you have 0 part placed, pick a new tray. 
then after each pallet sequence, update a variable to add 1 to the part count. Then if the count reach 25, which mean the tray is complete, set the variable to 0 so the next time it will pick a new tray.  Here is what the program looks like : 

Let me know if this is what you were looking for.



 

David_Gariepy

May be you teach the position with the wrong TCP in the palletizing wizard. In this case you'll have to either revert back to the other tcp or teach the waypoint again.

AZalmanov

@David_Gariepy

Yes this is part of what I need to make this work, what I mean is how do I increment the position of the four corners of my pallet upwards in the z direction in correlation to the number of trays in a stack. 

AZalmanov

Oh, are you suggesting I use a cube pattern instead of square?

David_Gariepy

Using the box pattern the incrementation will be done automatically when you enter the number of part between the corner 1 and the corner 5.

David_Gariepy

Yes use the cube pattern

AZalmanov

Okay, I have done what you have suggested and everything seems to work fine. However, I believe the seek function does not remember its last position and always collides with the stack of trays when reaching for the second tray (as if it expects there to be more trays). Is there a setting I have missed that forces the robot to remember where it found its last tray?

David_Gariepy

Dis you set the item thickness in the wizard?

AZalmanov

Yes, I got to the bottom of my problem. For some reason the TCP was not being changed between the two programs. However now the box palletizing sequence seems to be using the wrong TCP, Although I added a set command to change TCP before start of the palletizing wizard. Two steps forward one step back.

AZalmanov

Yes, that was the problem everything seems to be working fine. I wish there was a display for TCP at each waypoint. Thank you very much for your help.

David_Gariepy

You can also change the TCP in the move node