gripper timing

hawesr

We have noticed a gripper timing error on the pick. On some occasions we noticed that the gripper was signalled to close after the pick dwell instead of before it.

We use a TriggEquip statement with a distance specified as 1 (originally we used 0 & had problems with VacAct set > 0.06). The VacAct time currently in pickmaster is around 0.05 - 0.06.

We have tried changing many of the relevant pickmaster variables but the only thing that seems to give the correct result is to change the 1mm distance to say 10.

We have increased the pick time to 0.6s so that the problem can be seen without a camera.

The difficulty is that it is not consistent. ie I cannot always reproduce the problem.

We are thinking it may explain some poor pick situations we have seen in production situations.