Is it Possible Pick up 2 Point to use Grasp Action Wizard?

[hooyoung]

Please refer to the picture above.
I want use 1, 2 Pick Up Point.
Pick up unit has T Axis, so Pick up & Place at the same time.

To explain about sequence simply:
Picker Down > Point 2 Loading product > Picker Up > T-axis movement 180 degrees >
Picker down (Point 2 : UnLoading Product to Conveyor / Point 1 : Loading Product from Magazine) > Picker Up
T-axis movement 0 Degrees > Picker down (Point 1 : UnLoading Product to Conveyor / Point 2 : Loading Product from Magazine)
Repeat the above sequence until all products have been used.

So How can I implement the above behavior using Grasp Wizard?

[Tilma]

Hello,
If you don’t want to write a Python script, the Grasp Action Wizard is a nice solution.
To have one grasping action on each side, you can create one Grasping Node on one side, then rename the Link and create a second one (otherwise it will be overwritten, as it would have the same name). Don’t forget to move the frames where the products need to be grasped.

For the turning and up/down actions, if you don’t already have a solution, I would suggest using the IO-Control wizard.

[hooyoung]

Thanks for your advice. It helped me a lot.
If you don’t mind, could I see a simple example using the IO-Control Wizard?

[Tilma]

The IO-Wizard will create signals to control your joints. There is different way you could control them. Here is an exemple using a Process with WaitSignal and SendSignals statements:

Example_TAxis_Pick_and_Place.vcmx (1.0 MB)

[hooyoung]

Thank you very much for your teaching, Tima.
Visual Component seems to have many functions.

I will refer to the example you sent me.
Have a nice day, Tima