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Answered Program Logic

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Chadwick Dockstader

Hello Everyone , 

Can anyone help me with the program logic. 

I am planning to find the center of the square plate using the probe and pick it up with gripper 

As the square plate can be at different location within the tolerance zone. I am planing to move the probe starting from the arrows and when it reaches exterior of the plate , Due to material density variation , probe will detect it and the position will be store in position register. Similarly for four other points. 

So now based on the mathematical calculation , x and y location difference i can get the center point.  Now i will make another position register , it will be a center position which is previously calculated instead of edges. This plate will be picked using the gripper. 

In a scenario , If the plate edges are not in parallel with the work table. What can be the logic to rotate the gripper in particular angle. ?

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    Gábos Tibor
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    Hi Chadwick!

    I would suggest you use an industrial camera to find the position of the workpiece ( the center coordinates and the rotational angle). There is a lot of different type of industrial camera in the market, some of them is quite cheep. It is far more flexible and reliable method then the probing and you can change the workpiece only with a program change.

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    Arturo Espinar
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    Hi Chadwick!

    I agree with Gábos, but your method could work too. I mean you have to probe one edge at two points to be able to calculate the rotational angle.

     

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    Chadwick Dockstader
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    Hello Gabos , 

    I will definitely look for it . As this is just a square plate. What if any other shape , which has no possibility to apply the logic. Camera will be a good choice .. ! 

    Thanks a lot. 

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    Chadwick Dockstader
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    Hello Arturo ,

    Thanks a lot for the logic.  You just saved my whole day.

     

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