How ActiNav Enables Different Tool Actions

ActiNav provides a variable that can be used to selectively execute different tool actions at Pre-Pick depending on the Pick you would like to execute. This also works at Pick depending on the direction you would like your gripper to actuate towards . Typically parts have features internal on the part that can still be grasped with externally as well as internally. 

This method uses the variable ‘Current_Pick’, which is always equal to the name of the Pick Rule used at the last pick.

Step by Step Example

This example has 6 Pick rules with 1 Place Rule.  It is advised to rename your Pick Rules to anything short and easy to remember.  This makes typing in your conditional logic simpler. In this case Top Pick 1 and Top Pick 2 are simplified to T1 and T2.

Add an If statement to test the value of  “Current_Pick”

Test “Current_Pick” for equality to the name of the Pick Rule, in this case “ReGrip Pick”.

You MUST use the Pick Rule Name exactly as it is named in ActiNav Letter by Letter.  Variable names are case sensitive.

If you would like to reference multiple Pick Rule Names you MUST write the expression twice.

Example: If Current_Pick ≟ “Pick_Rule_1” or Current_Pick ≟ “Pick_Rule_2”

This conditional should be a peer, not a child of the sub nodes.

Once you have created the condition then set your desired gripper stroke for that particular pick and add either and else if or an else for additional conditionals for the other picks.

In this case for T1 and T2 I would like my gripper stroke at 70 % and for all other picks (Else) set my gripper stroke to 90%.

The same logic above still apples with the same rules. In this case T1 and T2, both are already at 70 % stroke during Pre-Pick.  The following logic will now close my gripper to 100% for T1 and T2.  This Pick is an external grasp.

In the case of all other picks which are at 90 % stroke.  The Else statement is having my gripper move from 90 % to Open (0%).  These Picks are internally grasped.

Here is the full program