Aknowledge 2 items, double place [PickMaster 3]

PickMaster
1

Hi,

I need to be able to acknowledge 2 items on the same “line code” with a triggL. We are placing 2 rows at the same times and sometime when we pause the robot, its restart by placing again in the same position. I thinks this come from the fact that I don’t acknowledge the second item on the triggL line. How can we acknowledhe 2 items with one robot movement???

Here is my code:

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PROC PlaceDouble(num Index)
Coordinated;
TPWrite “Place a double pick”;
WObjPlace:=ItmSrcData{Index}.Wobj;
GetItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget;!Maxtime:=8 imefl ag:=FlagPlaceEmpty;

MoveLConc,RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index} .OffsZ),MaxSpeed,z20,GripperWObj:=WObjPlace;
TriggLConc,PlaceTarget.RobTgt,LowSpeed,ItmSrcData{Index}.Va cuumRev1T2:=Vac2RevDelayT3:=ItmSrcData{Index}.VacuumOff1T 4:=Vac2OffDelay,z5Inpos:=ItmSrcData{Index}.TrackPoint,Gripp erWObj:=WObjPlace;
GripLoad load0;
TriggL RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),Low Speed,ItmSrcData{Index}.Ack,z20,GripperWObj:=WObjPlace;&nbs p;
!If we place 2 rows, we acknowlegde the other row at the same time.
WObjPlace:=ItmSrcData{Index}.Wobj;
GetItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget;
AckItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget,TRUE;
UnCoordinated;
IncrPicks;
IncrPicks;
!ENDIF
ENDPROC

Thanks for your help

Nick

2

Nick,

If placing two items in one place operation (i.e. a single robot move) it is usually easier to have one target position corresponding to the two real positions. It will be both easier and probably also yield higher performance.

BR, Erik

3

Hi Erik,

the problem is that we need to place single or double pick. We alternate during the program dependind on the kind of pick in the infeed conveyor. Is there a way to aknowldege inthe same line?

Nick

4

Hello,

Is it possible to acknowledge the the second placement before you actually do the first placement? If both the first and second placements are the same shouldn’t this work?

PROC PlaceDouble(num Index)
Coordinated;
TPWrite “Place a double pick”;

!If we place 2 rows, we acknowlegde the other row at the same time.
WObjPlace:=ItmSrcData{Index}.Wobj;
GetItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget;
AckItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget,TRUE;

WObjPlace:=ItmSrcData{Index}.Wobj;
GetItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget;!Maxtime:=8 imefl ag:=FlagPlaceEmpty;

MoveLConc,RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index} .OffsZ),MaxSpeed,z20,GripperWObj:=WObjPlace;
TriggLConc,PlaceTarget.RobTgt,LowSpeed,ItmSrcData{Index}.Va cuumRev1T2:=Vac2RevDelayT3:=ItmSrcData{Index}.VacuumOff1T 4:=Vac2OffDelay,z5Inpos:=ItmSrcData{Index}.TrackPoint,Gripp erWObj:=WObjPlace;
GripLoad load0;
TriggL RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),Low Speed,ItmSrcData{Index}.Ack,z20,GripperWObj:=WObjPlace;& ;nbs p;
UnCoordinated;
IncrPicks;
IncrPicks;
!ENDIF
ENDPROC