Depalletizing - how to get consistent entry/exit point for each layer

General Application Help: How do I?
1

Hi all,

I have a UR3e and trying to depalletize a stack of 15 microplates (each 15mm thick) from a plate rack. After picking up each microplate, the arm needs to go up to a specific point above the plate rack to avoid collision.

However, I found that even though I taught the entry and exit points (relative to the reference position) in the depalletizing wizard, this entry/exit point goes lower after picking up each microplate from the stack, which results in the arm colliding with the top of the plate rack after the 5th microplate.

How do I make the entry/exit point consistent so that it does not go lower after each microplate pickup?

Thank you

2

i did something similar. i used direction and a vacuum sensor on a suction cup . go to entry point start direction z- in my case and start suction, stop on sensor , start direction z+ for your exit point. delivering the part i reversed and used force to find position in z axis. i can`t tell if it will work for you, it did for me