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AZalmanov
Posts: 19 Apprentice
Incrementing pallet position with seek function. |
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/ Most recent by David_Gariepy
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in Programming
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.
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David_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 190 Handy
@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 Gariépy
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David_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 190 Handy
@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.
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