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Reading of Pallet sensor and Stack light register - Palletizer

Context

It is possible to read the status of the Pallet sensors and the Stack lights on the Robotiq Palletizing Solution

 

Before using it externally, please ask an Application Expert to support@robotiq.com

 

 

Important***: This way to read registers has not been implemented officially. These registers may change at any time in the software in the new URCaps release.
We plan to develop a clean way to read those registers using script functions in the following months that will be supported over time.
It will be mandatory to change the program to go read the sensors in the official way.

 

Stack Lights

 "digital_outputs" can be named differently.

digital_outputs[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15] = integer_to_binary_list(read_input_integer_register(26))

0 - Left Light Stack Red Bit 0
1 - Left Light Stack Red Bit 1
2 - Left Stack Blue Bit 0
3 - Left Stack Blue Bit 1
4 - Left Stack Yellow Bit 0
5 - Left Stack Yellow Bit 1
6 - Left Stack Green Bit 0
7 - Left Stack Green Bit 1
8 - Right Light Stack Red Bit 0
9 - Right Light Stack Red Bit 1
10 - Right Stack Blue Bit 0
11 - Right Stack Blue Bit 1
12 - Right Stack Yellow Bit 0
13 - Right Stack Yellow Bit 1
14 - Right Stack Green Bit 0
15 - Right Stack Green Bit 1

2 bits per LED

[0 0 ] LED OFF

[0 1] LED blinks slow

[1 0] LED blinks fast

[1 1] LED ON

 

Pallet Sensor

You can create a variable which will have 4 arguments and use this command:

"digital_inputs" can be named differently
digital_inputs[0,1,2,3] = integer_to_binary_list(read_input_integer_register(36))   

0 - sensor 1
1 - sensor 2
2 - sensor 3
3 - sensor 4

Status 0 means the sensor is not triggered. Status 1 means the sensor is triggered.