PalletBuilder - Dispenser Search Stack

• Height: Height of the dispenser sides that need to be cleared when moving to or from the station.
• Product S-Var: String variable used to store the product name assigned to the dispenser.
• Search Adjustment D-var: Double variable used to track the location of the last found product. If enabled, the next search operation will start from the last found location, instead of starting the search from the maximum stack height.
• Ready Input#: Input signal confirming that the dispenser station is ready. Often associated with a sensor detecting the presence of product.
• At Station Output#: Output signal indicating that the robot is currently at this station.
• Reset Input#: Input signal causing the dispenser to reset the Empty Stack Output# and set the Search Adjustment D-var to 0.
• Empty Stack Output#: Output signal indicating that the search has reached the taught pick position on the last search.
• Search Input#: Input signal from the gripper detecting the 0 mm presence of the product. There is an option to 'Activate tool at beginning of search', this allows to turn on vacuum at the beginning of the search when a vacuum confirmation sensor is used as the search input. When the product is thin and the 'Search Adjust' variable is enabled, a distance can be added to 'Start the next search Z mm above the last found part'.
• Signal Low Stack Output: When enabled, the indicated output signal will turn on when the found product is below the indicated value in mm (Z-axis of specified User Frame).

Empty Stack

If the robot reaches the taught pick position for the Dispenser Search Stack without finding product, the robot will deactivate the gripper and finish executing the Dispenser Pick Departure path. It will then set the Search Adjustment D-var to 0 and turn on the Empty Stack Output# before executing the Call subjob after station Pick: (if enabled). Make sure to check the Search Input# inside this subjob before assuming that product has been grabbed.

Then the palletizing program will loop until the Empty Stack Output# turns off. If you have multiple Build Stations and are alternating between Build Stations each cycle, then the program will continue solely with the other Build Station if ready to do so. It will start alternating again once the Empty Stack Output# turns off. 

The Empty Stack Output# can be turned off through the Reset Input#, which is usually tied to a physical button near the Dispenser Station or by pressing the “Stack Reset” button on the Cell Operation screen (shown below).