# Part Positioner Smart Component - Sense Multiple objects

**URL:** https://tech-community.robotics.abb.com/t/part-positioner-smart-component-sense-multiple-objects/7537
**Category:** RobotStudio
**Created:** [January 23, 2017, 7:48am UTC](https://tech-community.robotics.abb.com/t/part-positioner-smart-component-sense-multiple-objects/7537 "2017-01-23T07:48:50Z")
**Posts on this page:** 2
**Page:** 1

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### Author: ![AlexRad](https://avatars.discourse-cdn.com/v4/letter/a/a4c791/32.png) [@AlexRad](https://tech-community.robotics.abb.com/u/AlexRad)
#### Post date: [January 23, 2017, 7:48am UTC](https://tech-community.robotics.abb.com/t/part-positioner-smart-component-sense-multiple-objects/7537/1 "2017-01-23T07:48:50Z")

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Hello,

First of all, I am new to RobotStudio. I have an application where I have to put multiple parts (assembly) on a part positioner and then perform different operations with different tools. The problem I have is with the simulation.

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/1829a83aac18198759f445bf766a55666f976449.png)

The steps of the application:

1.Place Part 1 on the part positioner.  
2. ArcWeld corners.  
3.Place Part 2.  
4.SpotWeld Part 2 with Part 1.  
5. Place Part 3 (4 times).

The problem is that when I add parts systematically to the part positioner, I want them to become attached to the part positioner. For example, at step 1 only Part 1 is added, so I want this one to be attached to the PP. Next, at step 2 Part 2 is added, so I want now both Part 1 and Part 2 to be attached to the PP, and so on.

When all the operations on the PP are done, I also want to be able to grab the whole assembly (Part 1 + Part 2 + Part 3 x 4pcs.) with a vacuum gripper and put it on a pallet.

Can someone please explain how to accomplish this? I figure is through making the PartJig a Smart Component. I tried adding a Volume Sensor, but I don’t know how to sense multiple objects.

Thanks in advance,

Alex Rad

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### Author: ![Pavel\_Riabichev](https://avatars.discourse-cdn.com/v4/letter/p/8e7dd6/32.png) [@Pavel\_Riabichev](https://tech-community.robotics.abb.com/u/Pavel_Riabichev)
#### Post date: [January 23, 2017, 10:12am UTC](https://tech-community.robotics.abb.com/t/part-positioner-smart-component-sense-multiple-objects/7537/2 "2017-01-23T10:12:06Z")

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Hello  
I threw together a little demo on how you can do it with my custom smartComponent that I made for pick&place simulations. You can check the video attached. Also attached the p&g of the setup.

> **[ABB Robotics Community - Maintenance](https://forums.robotstudio.com/discussion/10054/smartcomponent-pick-place-simplified#latest)**

You need to read the description of the component from the link above to understand how it works and you can ask me here.

/Pavel  
[video.7z](https://tech-community.robotics.abb.com/uploads/short-url/3QArXxhmw7QNR86falkihNId92i.7z) (6.98 MB)  
[pNplaceDemo.7z](https://tech-community.robotics.abb.com/uploads/short-url/pG1FPMFVenyMfnUkW8eLzoGAURr.7z) (319 KB)