Hi,
I need to use a vaccum switch on the flexpicker gripper in order to be sure that all the item have been correctly gripped. If we detect that a product hasn’t been well gripped, the robot has to pick another product instead in order to complete the pattern defined in PickMaster.
So, I’d like know how the information (Input) can’t be used in the Rapid program and with PickMaster to perform this functionnality.
Thanks.
Christophe
Here is a step by step list how to use the vacuum switch in PickMaster.
Won’t the 200ms wait time in the Pick procedure significantly reduce cycle rate of the robot?
No. The program execution is not synchronised with the robot’s movements. The 200ms are there to allow the robot to catch up on the program execution.
Roger.
Hi,
I used the vacuum chek, described in the zip-file and got following results:
It was working very well until a speed of 4000mm/s of the IRB340.
If Irasised the speed ubove this value the programm-execution stopped after a few vacuum-errors at the getItmTgt-instruction in the pick-routine.
We got no further targets from pickmaster, so only a stop of the project could restart the robot.
Are there any solutions for that problem, becaus we need the vacuum-check working on the maximum-speed of the robot?
G?nther
Try to tune the WaitTime in the pick routine
Hi,
We didn’t succeed to make the example working correctly and it seems that we had similar troubles : after some vaccuum errors, Pickmaster lost its targets stack and we should restart the project.
The only solution i’ve found was to replace the first TriggL instruction of the place routine by a MoveLSync calling a vacuum check routine and replace the last TriggL of the place routine by another MoveLSync calling a acquitment routine doing a positive or negative ackItmTgt following the result of the vacuum check routine.
This solution isn’t very nice, we lose 5 or 10% of cycle time but this is the only solution i’ve found…
Christophe