Part Positioner Smart Component - Sense Multiple objects

AlexRad

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. 

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

Pavel Riabichev

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.

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