Smartgripper Vaccuum implementation in SearchL instruction

RAPID Programming
1

Can someone please help me with an issue I am facing with the vacuum function of my Smartgripper used in a project involving an Abb YuMi IRB14000 robot?

I am unsure of how to work with the SignalGI variable, which seems to be a requirement for my Smartgripper. I have tried using the SearchL or the Stop commands, but they do not seem to work with SignalGI.

The following instruction is getting error, because the SearchL command requires a 0/1 signal from a SignalDi input, but the “hand_ActualPressure2_L” is the SignalGi variable which I have because of the Smartgripper by default, and is not compatible with the SearchL command.

SearchL \Stop, hand_ActualPressure2_L, p10, p20, v50, GripperL;

So my currently working solution involves moving the robot 1 mm in a While loop To pick up an object, I am using SignalGI as a condition in the loop, but I am aware that this is not the most optimal approach.

MoveL p10, v100,fine,GripperL;
g_VacuumOn2;
WHILE hand_ActualPressure2_L > 88 DO
MoveL Offs(endpos, 0,0, -1 * Z_position), v30, z0, GripperL;
TPWrite ( ValToStr(hand_ActualPressure2_L) );
WaitTime 0.1;
Z_position := Z_position + 1;
ENDWHILE

Any advice or guidance on this matter would be greatly appreciated.Thank you for your help!

2

Hello,
I think you can trig a routine with ISignalGI connected to hand_ActualPressure2_L.
In this routine you can check its value then set a PERS bool that you use into SearchL.

3

See if that fixes it…

PERS bool conditionOk:=FALSE;
VAR intnum sig1int;

PROC main()
CONNECT sig1int WITH iroutine1;
ISignalGI gi1, sig1int;

WHILE TRUE DO
IF conditionOk conditionOk:=FALSE;
SearchObj;
ENDWHILE
ENDPROC

TRAP iroutine1
IF hand_ActualPressure2_L <= 88 ConditionOk:=TRUE;
ENDTRAP

PROC BuscaObj()
SearchL \Stop, conditionOk=TRUE, p10, p20, v50, GripperL;
Stop;
ENDPROC

Test and mark UP if it solved.