I currently have Flexpickers in series picking from a product conveyor using vision to detect the products on the belt.
If no product is available in the pick queue we send the flexpicker to a WaitPickPosition, using the following code
IF (GetQueueLevel(PickIndex1) = 0) THEN MoveLConc,WaitPickPos,MaxSpeed,z100,GripperWObj:=wobj0;
This works ok but is their a way of modifying this to move to WaitPickPos when their are items in the pick queue but these items are not in the Work Area , not connected
There is an optional output signal funtion for every conveyor workarea called “Position Available”.
From the UsersGuide:
…
Position available
This output signal is high when there is one or more items between the enter and exit limits for the work area. (This can e.g. be used to make post inspection.)
…
Assign a simulated output signal to this function and make a check for it in the rapid program, like:
IF DOutput(doPickPosAvailable) = 0 THEN
MoveLConc,WaitPickPos,MaxSpeed,z100,GripperWObj:=wobj0;
ENDIF