Vacuum check [PickMaster 3]

PickMaster
1

Hello, I have a problem to resolve if someone have an idea better then my…

I need to check the presence of the vacuum “only” before to place the object in the box, i made this modify to the rapid, but this dont work correctly, it work correctly when i wait the item target (Timeout), but not after the target acquisition in the place procedure. As the attached part.

PROC Place(num Index)

VAR bool Max_time;

Coordinated;

WObjPlace:=ItmSrcData{Index}.Wobj;

GetItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget,MaxTime:=60,TimeF lag:=Max_time;

IF Max_time = FALSE THEN

Set doManSync2;

TriggLConc,RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index }.OffsZ),MaxSpeed,checkvac,z20,GripperWObj:=WObjPlace;

WaitTime 0.1;

IF AckNack = FALSE THEN

TriggLConc,PlaceTarget.RobTgt,LowSpeed,ItmSrcData{Index}.Va cuumRev1T2:=ItmSrcData{Index}.VacuumOff1,z5Inpos:=ItmSrcDa ta{Index}.TrackPoint,GripperWObj:=WObjPlace;

GripLoad load0;

TriggL RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),Low Speed,ItmSrcData{Index}.Ack,z20,GripperWObj:=WObjPlace;

ELSE

TriggLConc,PlaceTarget.RobTgt,LowSpeed,ItmSrcData{Index}.Va cuumRev1T2:=ItmSrcData{Index}.VacuumOff1,z5Inpos:=ItmSrcDa ta{Index}.TrackPoint,GripperWObj:=WObjPlace;

GripLoad load0;

! ===========================

! First attempt

TriggL RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),Low Speed,ItmSrcData{Index}.Nack,z20,GripperWObj:=WObjPlace;

! ===========================

! Second attempt whitout the “Triggl” Above

!MoveL RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),Low Speed,z20,GripperWObj:=WObjPlace;

!AckItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget, FALSE;

! ===========================

AckNack := FALSE;

ENDIF

ELSE

UnCoordinated;

MoveL Max_time_wait,MaxSpeed,fine,GripperWObj:=wobj0;

SetGO goVacBlow1,0;

AckItmTgt ItmSrcData{Index}.ItemSource,PlaceTarget, FALSE;

ENDIF

UnCoordinated;

Reset doManSync2;

ENDPROC

!**********************************************************

!

! Trap Vacuum

!

!

!**********************************************************

TRAP novactrap

ErrWrite W,“Vacuum Error”,"Robot ";

AckNack := TRUE;

ENDTRAP

Thanks

Paolo Garavaglia