Pick and Drop
This is an early program that I made that picks a part from the gravity chute and drops it in the bin. It is a closed loop system and uses tool offsets and loops.
1D Palletizing
This is a closed loop system that picks a part from a gravity chute then places it in the pallet. It starts and ends at the same position and uses sensors to confirm that there are parts in the gravity chute and in the gripper.
3D Palletizing
This program is entirely closed loop and has an no parts program so you can reload pieces safely. Using loops and offset combined with registers and math functions it is able to palletize in three dimensions.
Search and Pick
In this program the robot has an optical sensor on the side of the tool that is being used to find the top of the stack of discs. It then uses that information to adjust the data for the vacuum cup so it can pick from the top of the stack. It then places it in the bowl and then moves the bowl to a stack.