Adjusting drop position based on object measurment

bmrgud

Hello to all. I have specific demand, we are supposed to pickup rectangular stack of recycled aluminum of different sizes, and based on stack length that we will measure during clamp closing (with force control) we will create in real time matrix (positions) for drop off. Does anyone has an idea how to transfer clamp's measurement data to robot controller and how to change drop off positions in real time based on these measurement. Thanks a lot in advance.

bjekas

Hi bmrgud

Im not an expert in abb robots but if you want to create an offset to a posicion just use this:

Offs(pTarget, xOffset, yOffset, zOffset)

The idea is to create a drop target and then, depending to your piece length, change (through a numeric variable) the offset relative to the original drop target.

Hope it helps

USLuser1

Not sure about your setup, however, if you have a clamp that will have different stroke distances/forces you can have several unique digital inputs to the robot.

If, for example:

[code]
PERS num Product:=0;

PROC where()
     IF diProductA=1 Product:=1
     IF diProductB=1 Product:=2
     IF diProductC=1 Product:=3
     TEST Product
     CASE 1:
         Stack A;
     CASE 2:
         Stack B;
     CASE 3:
         Stack C;
     DEFAULT:
         RETURN;
     ENDTEST
ENDPROC

[/code]
Additionally, if you have a PLC hooked into your setup you could measure the size of the boxes prior to picking it up.  In the case of the PLC setup, you would run a group input and assign 'product' to a number without needing the logic I presented. However, I don't know your setup.