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Detecting Object Loss with EPick

Use built-in detection functions to confirm if your vacuum gripper has dropped an object.

Context

In robotic applications using vacuum grippers, it’s essential to detect whether the gripped object has been dropped—especially before a placement action. Robotiq’s EPick grippers include built-in vacuum detection logic that can be accessed via script functions to alert you when an object is no longer held.

This article explains how the detection works, how to implement it in your robot program, and tips for reliable use.

 

1. Object Detection Logic

The Robotiq function rq_is_vacuum_obj_detected() allows you to monitor whether an object is currently held by the gripper.

  • Returns True: object is detected (held).

  • Returns False: object is not detected (potentially dropped).

Detection Modes

  • Automatic Mode
    If vacuum level drops below 10%, the gripper considers the object lost.

  • Manual Mode
    If vacuum level drops below the user-defined minimum vacuum threshold, the object is considered lost.

You can configure these detection modes and vacuum thresholds in the gripper’s settings or via script parameters.

 

 

2. Monitoring Thread Example

To detect object loss during program execution, use a monitoring thread that checks the object status continuously.

Sample Logic:

if not rq_is_vacuum_obj_detected():
popup("Warning: Object lost before release")
halt()
 

This code can be added as a background thread or after a grip command to confirm object presence before continuing.

 

 

3. Best Practices

  • Test with your specific parts: Porous or textured surfaces may affect vacuum stability.

  • Avoid false negatives: If using manual mode, tune the minimum vacuum level to avoid premature loss detection.

  • Use after grip and before place: Insert detection logic between vacuum activation and release operations for safety.

  • Combine with visual or tactile checks: In critical processes, use redundancy to ensure reliability.

 

Conclusion

Using the rq_is_vacuum_obj_detected() function with EPick or AirPick enables reliable detection of dropped parts before they cause downstream issues. By integrating this check into your robot program, you can prevent failures and improve pick-and-place reliability.