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Load two entities on Pick and Place Robot

Creator
Creator

Hello!

 

I am wondering if it is possible to load two different Entities on one Pick and Place Robot first and to distribute them both on one of two assembly stations afterwards (see picture). I tried to programm it, but as a new user it is pretty tough for me.

The robot takes automatically part A from the predecessor 1, takes 2 parts and then moves to sucessor 1. My first try was to set the capacity of the robot to 1. After he takes part A i moved him to the predecessor 2 and increased its capacity so he can take part B aswell. However, the robot stops then and wont move. I guess it's because he tries to unload part A on the predecessor 2.  I can't find a way to load part B on the robot instead.

 

I used this code for the entrance of the robot as a start:

if @.class = .BEs.A
 ?.setdestination(?.pred(2),false)

?.Capacity := 2
end

 

Can anybody please help me to improve the code?

 

 

 

 

4 REPLIES 4

Re: Load two entities on Pick and Place Robot

Phenom
Phenom

Here's an example (Frame2) , that loads multiple (different) parts

 

,defined in the Tab-table, onto a pallet on the assembly station.

 

Unbenannt.PNG

Re: Load two entities on Pick and Place Robot

Creator
Creator

Thanks for the suggestion.

Unfortunately, I still have the same issue. Somehow ,after loading the first part A, fwblockList just shows the second part A. The part B somehow doesn't appear in it, which is why the OnPull Code doesn't work.

 

Does anybody have an idea why it happens? Maybe because one part comes from a conveyor while the other comes from an assembly station?

 

Thanks for your help!

 

Re: Load two entities on Pick and Place Robot

Phenom
Phenom

The on pull control is triggered by the predecessor Mus ready to leave the

 

predecessor.

 

I have changed the previously posted model for

 

the robot to pick up and load 2 parts to the pallet.

 

As you can see, the fwBlockList is triggered accordingly and 2 parts (A,B)

 

are picked- and unloaded by the robot.

 

Put a print to the m02 source code to see how the pull control

 

is triggered.

 

Unbenannt.PNG

 

 

Re: Load two entities on Pick and Place Robot

Creator
Creator
Awesome! It worked for me. Thanks