Limit the number of attempts and/or time allowed to identify an object

jcontreras

hello!

Can i limit the number of attempts or time the camera requires to identify an object.

I want to build a program where if the object is not located after 3 attemps or after 15seconds the UR will grab the product and place it in separate bin.

thank you and best regards

David_Gariepy

@jcontreras
Here is an example of an assembly using 2 different parts.  
In this example, I use 4 differents variables, 2 for each part. 
1 to keep track of the number of attempts, and 1 to define if the part has been found or not. 
In the before start of the program, i initialized these variables. 

My first camera locate is in an if statement.
If the number of attempts is below 3, and the part hasn't been found, the camera will take the first picture. if it find the part, it will set the variable to True, otherwise, it will continue the program and update the number of attempts +1

The second camera locate is also in an if statement 
If the first part has been found, and the second hasn't yet, and the number of attempts to find that part is below 3, then take a picture.
if it find the part, it will set the variable part2_found to True, otherwise, it will continue the program and update the number of attempts +1

 Program
   BeforeStart
     part1_attempts≔0
     part1_found≔ False 
     part_2_attempts≔0
     part2_found≔ False 
   Robot Program
     MoveJ
       Snapshot_pos1
     If part1_attempts<3 and part1_found≟ False 
       Camera Locate
         MoveJ
           'pick and place'
         part1_found≔ True 
       part1_attempts≔part1_attempts+1
     If (part1_found≟ True ) and (part2_found≟ False ) and (part_2_attempts<3)
       Camera Locate
         MoveJ
           'pick and place'
         part2_found≔ True 
     If part1_found≟ True  and part2_found≟ True 
       'Program is finished, reset variables'
       part1_attempts≔0
       part1_found≔ False 
       part_2_attempts≔0
       part2_found≔ False 
     Else
       'part not found, do something else'
     sync()

David_Gariepy

Hi @jcontreras,

The camera locate nodes act as an if statement. If you detect an object (Camera Locate is "true) everything under the camera locate node is executed.  You can then create simple logic to decide what do to.  See the following DoF post for more details.

jcontreras

but can a set the number of attempts it does?

jcontreras

Wow, thanks! this looks great and it is exactly what i needed!