Programming robot to perform tool check using tool load data

awilde

Our robot sometimes does not manage to close it's collet while picking up a tool due to buildup from the manufacturing process. The issue when this happens is that it doesn't clear the tool shaft and rips the tool rack out of the ground. My solution to this is to program the robot to determine whether it has picked up the tool using the saved load data for the tool. Essentially want to perform a load check every time it picks up a tool. Is there a function that already exists within the IRC5 controller? Is it even possible for the robot to even determine a load change through just a z move? I know that when you perform the load identify function the robot has to articulate itself into different orientations in order for it to determine the mass and center of gravity for the tool but is a simple z move enough to determine a resistance change on the robots motors. I would think yes but even so how would one program this. Here is a sample of the code I was trying out but didn't work.