How to Prevent Box Count from Incrementing When No Box Is Placed

Context: This article explains how to use the rq_has_box variable to stop the box count from increasing when a box isn’t successfully placed in the Robotiq Palletizer.

• Default Behavior of rq_has_box

  • Default is True

  • When True, PAL assumes a box has been placed and updates the box count

• How to Control Box Count With Vacuum Detection(Gripper_socket)

  • Set rq_has_box = rq_is_vacuum_obj_detected in the Release section

  • Ensures the count is only incremented if a box is actually detected

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• Handling False Conditions

  • Add logic to avoid releasing if no box is detected

  • Optionally halt program if pickup fails to allow manual intervention

Conclusion: This approach avoids misplacement and allows reattempts or safe failure handling when no box is detected.