::heading=Context
For some applications, it might be required that the robot pick a box from a moving conveyor.
::heading=Knowledge
To achieve this, you will need to activate and set up the conveyor tracking on UR. Please see this article from UR for a detailed guide on how to setup the conveyor tracking feature:
https://www.universal-robots.com/articles/ur/application-installation/conveyor-tracking-with-wizard/
In addition, the box sensor signal input for the palletizer node must always be on, which can be achieved by wiring a cable from a 24v output and inserting it in an input of the robot that will act as the box sensor. Once this is done, you can move on to the next steps.
Inside the palletizer node, you will need to record the PrePick position and insert a wait command that waits for the real box sensor signal. Here's what the program looks like:
Place the box on the conveyor and move it toward the box sensor, just enough to trigger it. Then define the pick position above the box so that the robot does not touch it. In our example, we define the pick pose about 2 inches above the box.
Next, in the grip node, enter a wait until the input where the real box sensor is high. Then do a relative move to pick the object, start the vacuum and raise back to the previous position. By doing this, the robot will move to the "fake" pick position above the box, and once the sensor is triggered, the robot will pick the box while the conveyor is moving and then lift it back to the pre-pick pose.
::note= Note that the prepick pose will move at the same time as the conveyor when running the program.
You can download the program and see it in action here: https://share.robotiq.com/public/1f5b6
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