attaching and detaching an object

Mr_Q

Hello everyone

I am new to robotstudio and I need your help. I need to do a simple exercise where a box is transported by a conveyer belt, then placed by a robot using a gripper on an other conveyer belt. But I have some problems with attaching and detaching an object. Sometimes the gripper does grab the object and sometimes not. If the gripper does grab this box it won't let loose of it. I tried a lot but I have no idea what the problem is .
in the puush you will find my package. http://puu.sh/pXIlr/05ea79f9c5.rspag

Thanks a lot in advance

kind regards

Mr_Q

OskarHenriksson

Hi Mr_Q

First off:
in your Path_10, the command setDO doActVG 1/0 will be executed before it reaches Target_20.
I.e it will attach and de-attach earlier than you excpect.
If you look at the RAPID code when the robot is running you can see that it loads every row of code before it actually execute the move.

If you want to execute doActVG 1/0 when Target_20 has been reached you need to insert the action 'WaitRob' which contains two commands: InPos(which is what you want) and ZeroSpeed(not needed for your use).
The command It's not present in your P&G file but you can add it in 'Instruction Template Manager'.
Afterwards you can insert the action into your Path_10.

Secondly:
It seems like your Vacuum component is not behaving as expected.
If you monitor the I/O signals for the Attacher, Deattacher and diAttach you can see that the deAttach signal blinks very shortly and does not wait until deAttach executed is set.

Do not hesitate to ask further questions!
/Oskar

OskarHenriksson

Hi
I've created a Pack&Go file for you with a working solution, it's a proof of concept rather than a final solution.

/Oskar