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Pally will set TaskCompleted (to either True or False) based on if it detects that sufficient vacuum level in the gripper has vacuum before it releases the box. This, as the vacuum level in the gripper will signal to Pally that the gripper is lifting a box (i.e a successful run). If the vacuum level in the gripper is low, then it signals that there is no box present on the gripper (i.e an empty run).
Gripper Configuration for TaskCompleted
The digital signal that is used to check the vacuum level in the gripper, and subsequently set the value for TaskCompleted, is set in the Pally installation node, it . It is the ‘Vacuum lost’ input Vacuum lost-signal in the Gripper → Input/Output tab:
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The signal for ‘Vacuum lost’ lost' is used by Pally to check the vacuum in the gripper
Not all grippers are equipped with vacuum sensors, in this case, set ‘Vacuum lost’ to ‘-Always-LOW-’, if Pally detects this setting - then it will automatically set If the gripper in use does not have a vacuum sensor, set the Vacuum lost-signal to -Always-LOW- in the Pally installation node (see screenshot above). In this case, Pally will always set TaskCompleted to True.
If the gripper does have a vacuum sensor, then a digital input should be set for the Vacuum lost-signal. Examples of grippers that have vacuum sensors are:
Schmalz FXCB - Foam
Schmalz FXCB - Suction cups
Whenever one of the Schmalz grippers is selected as the gripper type in Pally, the Vacuum lost-signal is automatically set to the digital input that corresponds to the vacuum lost signal for that gripper. In the Schmalz case, there is a sensor that detects if vacuum is present, not lost. Therefore, to make the logic correct in Pally, the signal for vacuum lost with one of the supported Schmalz grippers is inverted (see screenshot below).
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If a Schmalz FXCB gripper is used, make sure that the vacuum switch in the gripper is configured properly for the boxes that will be used - specifically the switching point (SP2) and reset point (rP2) values. This, to make sure that the signal for vacuum lost is reliable. Refer to the user manual for Schmalz’s vacuum switch here: Operating instructions for the vacuum switch VSi 30.30.01.00956. |
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An example showing how the ‘Vacuum lost’ signal is automatically set to ‘tool_in[1]’ when the gripper type is set to ‘Schmalz FXCB - Foam’.
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It is possible to manually set the the Vacuum lost signal even if a Schmalz FXCB gripper is selected, this is done by checking the Edit-checkbox in the Input/Output-tab for the gripper configuration (as seen in the screenshot above). |
If you have a gripper with a vacuum sensor, and it is not a Schmalz FXCB gripper, then select the Custom vacuum gripper-type in the Pally installation node. It is then possible to assign a digital input for the Vacuum lost-signal as you please.
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An example showing how the ‘Vacuum lost’ signal can be manually set when the gripper type is set to ‘Custom vacuum sensor’
Logic in Pally Code for TaskCompleted
The logic in the Pally code gives more insight as to how the TaskCompleted variable is used and altered:
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