Preventing the Box Count from Incrementing When No Box Is Placed

Context

On the Robotiq Palletizing Solution, the box count normally increases every time the program completes a place cycle. If a pick fails and no box is actually placed, the count can still increase, which throws off the pallet pattern and your production numbers. This article shows how to use the rq_has_box variable to make the box count conditional on a box really being detected.

Information

Default behavior of rq_has_box

• The default value of rq_has_box is True.
• When it is True, the Palletizer assumes a box has been placed and increments the box count at the end of the cycle.

Controlling the box count with vacuum detection (Gripper_socket)

• In the Release section of the program, set rq_has_box = rq_is_vacuum_obj_detected.
• This links the box count to the vacuum sensor, so the count is only incremented when a box is actually detected on the tool.

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• Handling a False condition

  • Add logic so the robot does not release when no box is detected.
  • Optionally, halt the program when a pickup fails so an operator can step in and handle the box manually before resuming.

  Conclusion

  Tying rq_has_box to vacuum detection keeps your box count accurate, avoids misplaced boxes, and lets the cell either retry the pick or stop safely when something goes wrong.

  Need help setting this up? Contact Robotiq Support.

  Updated July 2026