Verifying that a part is being held immediately after a pick can improve cycle time. Rather than continue a cycle with an empty end effector, the cycle can be aborted and a new one started.

In this example, parts are picked with a vacuum end effector. The vacuum generator has an analog pressure sensor (0-10V, nominal no air flow is 5V) connected to analog_in[0]. When vacuum is on and a part is being held by the suction cup, the analog signal should be less than 2V.

Other types of end effector can test for a good pick with a proximity sensor, by reading back finger position, force/torque scripting, etc.